H H H H H H H H H H H H H H H H H H H H H H H H H H H H H H H H H H [INFO] Using python from: /home/ubuntu/miniconda3/envs/env_isaaclab/bin/python 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' [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_20260814_185220.log 2026-08-14T18:52:20Z [227ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX 2026-08-14T18:52:21Z [817ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-14T18:52:21Z [1,117ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. 2026-08-14T18:52:21Z [1,134ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-14T18:52:36Z [16,297ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-14T18:52:36Z [16,297ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-14T18:52:36Z [16,297ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-14T18:52:37Z [16,561ms] [Error] [carb.graphics-vulkan.plugin] VkResult: ERROR_INCOMPATIBLE_DRIVER 2026-08-14T18:52:37Z [16,561ms] [Error] [carb.graphics-vulkan.plugin] vkCreateInstance failed. Vulkan 1.1 is not supported, or your driver requires an update. 2026-08-14T18:52:37Z [16,561ms] [Error] [gpu.foundation.plugin] carb::graphics::createInstance failed. 2026-08-14T18:52:39Z [19,036ms] [Error] [gpu.foundation.plugin] Invalid getDeviceInfo parameters. [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. [INFO][AppLauncher]: Using device: cuda [INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit >> 08-14 18:52:40 [wpgen/setup] seated-orientation gate ON (insert.conditions.bottles): |yaw of axis (0.0, 1.0, 0.0)|<=15deg, tilt[level]<=10deg >> 08-14 18:52:40 [wpgen/setup] NOTE: mimic.synth_place applies to CHUNK rollouts only for task=bottles (4 slots -- a whole-task rollout never says which one this place is aimed at). Whole-task runs keep the replayed place window; use mimic.chunk_mode=true. >> 08-14 18:52:40 [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) >> 08-14 18:52:40 [wpgen/setup] SYNTH approach ON: hover=0.04 dwell=20 speed=0.7 accel=1.5 (freespace hop AND the replayed pre-keyframe vias replaced; the keyframe grasp pose itself is untouched) >> 08-14 18:52:40 [wpgen/setup] EXCLUDED 2 source demo(s) via mimic.exclude_takes (demo_16=take_20260807_142443, demo_17=take_20260807_142630); 23 remain >> 08-14 18:52:40 [wpgen/setup] task=bottles (Isaac-InsertBottles-PiperX-IK-Abs-Mimic-v0) payloads=['insert_bottle_0', 'insert_bottle_1', 'insert_bottle_2', 'insert_bottle_3'] >> 08-14 18:52:40 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/insert_bottles/0807_2/insert_bottles_annotation.json source=demo_0 subtasks=['grasp_bottle_0', 'place_bottle_0', 'push_seat_0'] 2026-08-14T18:52:39Z [19,036ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Couldn't get driver version, failed to getDeviceInfo 2026-08-14T18:52:39Z [19,036ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Unable to get IGpuFoundation, GpuDevices or Graphics! 2026-08-14T18:52:39Z [19,116ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it 2026-08-14T18:52:49Z [29,167ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-14T18:52:49Z [29,167ms] [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) 2026-08-14T18:52:49Z [29,223ms] [Error] [carb.graphics-vulkan.plugin] VkResult: ERROR_INCOMPATIBLE_DRIVER 2026-08-14T18:52:49Z [29,223ms] [Error] [carb.graphics-vulkan.plugin] vkCreateInstance failed. Vulkan 1.1 is not supported, or your driver requires an update. 2026-08-14T18:52:49Z [29,223ms] [Error] [gpu.foundation.plugin] carb::graphics::createInstance failed. 2026-08-14T18:52:50Z [30,380ms] [Error] [carb.graphics-vulkan.plugin] VkResult: ERROR_INCOMPATIBLE_DRIVER 2026-08-14T18:52:50Z [30,380ms] [Error] [carb.graphics-vulkan.plugin] vkCreateInstance failed. Vulkan 1.1 is not supported, or your driver requires an update. 2026-08-14T18:52:50Z [30,381ms] [Error] [gpu.foundation.plugin] carb::graphics::createInstance failed. 2026-08-14T18:52:52Z [31,511ms] [Error] [omni.gpu_foundation_factory.plugin] Failed to create any GPU devices, including an attempt with compatibility mode. sh: 1: zenity: not found 2026-08-14T18:52:52Z [31,710ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-14T18:52:52Z [31,710ms] [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) 2026-08-14T18:52:52Z [31,719ms] [Error] [omni.kit.renderer.plugin] GPU Foundation is not initialized! 2026-08-14T18:52:52Z [31,735ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-14T18:52:52Z [31,735ms] [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) 2026-08-14T18:52:52Z [31,755ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-14T18:52:52Z [31,755ms] [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) 2026-08-14T18:52:52Z [31,758ms] [Error] [omni.kit.imgui_renderer.plugin] _prepareDefaultWindow: invalid device attached to the default window! 2026-08-14T18:52:53Z [33,176ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to 2026-08-14T18:52:53Z [33,249ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available 2026-08-14T18:52:53Z [33,249ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips] 2026-08-14T18:52:53Z [33,258ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available 2026-08-14T18:52:53Z [33,258ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips] [INFO]: Parsing configuration from: nimble.brain.sim.mimic.bottle_env_cfg:BottlesMimicEnvCfg ====================================================================================== [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-14_18-52-54.log ====================================================================================== 18:52:54 [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. [INFO]: Base environment: Environment device : cuda:0 Environment seed : None Physics step-size : 0.0020833333333333333 Rendering step-size : 0.016666666666666666 Environment step-size : 0.016666666666666666 [INFO]: Time taken for scene creation : 8.259343 seconds [INFO]: Scene manager: Number of environments: 512 Environment spacing : 3.0 Source prim name : /World/envs/env_0 Global prim paths : [] Replicate physics : True [INFO]: Starting the simulation. This may take a few seconds. Please wait... [INFO]: Time taken for simulation start : 4.174782 seconds [INFO] Command Manager: contains 0 active terms. +------------------------+ | Active Command Terms | +--------+-------+-------+ | Index | Name | Type | +--------+-------+-------+ +--------+-------+-------+ [INFO] Event Manager: contains 1 active terms. +-------------------------------------+ | Active Event Terms in Mode: 'reset' | +----------+--------------------------+ | Index | Name | +----------+--------------------------+ | 0 | randomize_layout | | 1 | seat_brush | +----------+--------------------------+ [INFO] Recorder Manager: contains 6 active terms. +--------------------------------------------------+ | Active Recorder Terms | +-------+------------------------------------------+ | Index | Name | +-------+------------------------------------------+ | 0 | record_initial_state | | 1 | record_post_step_states | | 2 | record_pre_step_actions | | 3 | record_pre_step_flat_policy_observations | | 4 | record_post_step_processed_actions | | 5 | record_post_step_joint_commands | +-------+------------------------------------------+ [INFO] Action Manager: contains 2 active terms. +-----------------------------------+ | Active Action Terms (shape: 8) | +-------+---------------+-----------+ | Index | Name | Dimension | +-------+---------------+-----------+ | 0 | right_arm | 7 | | 1 | right_gripper | 1 | +-------+---------------+-----------+ [INFO] Observation Manager: contains 2 groups. +---------------------------------------------+ | Active Observation Terms in Group: 'policy' | +----------+-----------------------+----------+ | Index | Name | Shape | +----------+-----------------------+----------+ | 0 | actions | (8,) | | 1 | left_eef_pos | (3,) | | 2 | left_eef_quat | (4,) | | 3 | right_eef_pos | (3,) | | 4 | right_eef_quat | (4,) | | 5 | left_gripper | (1,) | | 6 | right_gripper | (1,) | | 7 | box_pose | (7,) | | 8 | bottle_0_pose | (7,) | | 9 | bottle_1_pose | (7,) | | 10 | bottle_2_pose | (7,) | | 11 | bottle_3_pose | (7,) | +----------+-----------------------+----------+ +---------------------------------------------------+ | Active Observation Terms in Group: 'subtask_terms' | +-----------+---------------------------+-----------+ | Index | Name | Shape | +-----------+---------------------------+-----------+ | 0 | grasp_bottle_0 | () | | 1 | bottle_0_placed | () | | 2 | grasp_bottle_1 | () | | 3 | bottle_1_placed | () | | 4 | grasp_bottle_2 | () | | 5 | bottle_2_placed | () | | 6 | grasp_bottle_3 | () | | 7 | bottle_3_placed | () | +-----------+---------------------------+-----------+ [INFO] Termination Manager: contains 1 active terms. +-----------------------------+ | Active Termination Terms | +-------+----------+----------+ | Index | Name | Time Out | +-------+----------+----------+ | 0 | time_out | True | +-------+----------+----------+ [INFO] Reward Manager: contains 0 active terms. +-----------------------+ | Active Reward Terms | +-------+------+--------+ | Index | Name | Weight | +-------+------+--------+ +-------+------+--------+ [INFO] Curriculum Manager: contains 0 active terms. +----------------------+ | Active Curriculum Terms | +-----------+----------+ | Index | Name | +-----------+----------+ +-----------+----------+ [INFO]: Completed setting up the environment... >> 08-14 18:53:07 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol) >> 08-14 18:53:07 [env] widened J4 limit to +-88deg >> 08-14 18:53:09 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact) >> 08-14 18:53:09 [wpgen/setup] companions table: boxes = 4 object(s), in-tray 0/2048 env-objects >> 08-14 18:53:09 [wpgen/setup] companions seated: brush = 1 object(s), in-tray 512/512 env-objects >> 08-14 18:53:09 [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 >> 08-14 18:53:09 [wpgen/chunk] CHUNK mode: 13 usable source chunks; native target slot s0:4, s1:1, s2:4, s3:4 >> 08-14 18:53:09 [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)]) >> 08-14 18:53:09 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts >> 08-14 18:53:09 [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]) >> 08-14 18:53:09 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_bottle_0=43mm, insert_bottle_1=40mm, insert_bottle_2=42mm >> 08-14 18:53:09 [wpgen/setup] REPAYLOAD hold bound for un-sourced payloads ['insert_bottle_3']: 43mm (largest measured source offset) >> 08-14 18:53:09 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts >> 08-14 18:54:35 [gen] step 40: lag=13/20mm(med/max) ORI=0/0deg(med/p90) j2sat=0.09/0.09(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=421mm(med) grip=0/512 bottle_0->pocket=150/264mm(med/p90) >> 08-14 18:55:28 [gen] step 80: lag=13/131mm(med/max) ORI=1/1deg(med/p90) j2sat=0.15/0.08(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=407mm(med) grip=0/512 bottle_0->pocket=150/264mm(med/p90) >> 08-14 18:56:21 [gen] step 120: lag=19/370mm(med/max) ORI=1/1deg(med/p90) j4sat=0.01/-0.00(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=402mm(med) grip=0/512 bottle_0->pocket=150/264mm(med/p90) >> 08-14 18:57:12 [gen] step 160: lag=41/450mm(med/max) ORI=26/30deg(med/p90) j4sat=-0.00/-0.00(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=384mm(med) grip=0/512 bottle_0->pocket=150/263mm(med/p90) >> 08-14 18:58:04 [gen] step 200: lag=57/354mm(med/max) ORI=33/39deg(med/p90) j4sat=-0.00/-0.00(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=372mm(med) grip=0/512 bottle_0->pocket=150/263mm(med/p90) >> 08-14 18:58:57 [gen] step 240: lag=55/364mm(med/max) ORI=29/41deg(med/p90) j4sat=-0.00/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=290mm(med) grip=0/512 bottle_2->pocket=223/296mm(med/p90) >> 08-14 18:59:52 [gen] step 280: lag=11/382mm(med/max) ORI=0/12deg(med/p90) j4sat=0.02/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=86mm(med) grip=0/512 bottle_2->pocket=223/296mm(med/p90) >> 08-14 19:00:42 [gen] step 320: lag=2/463mm(med/max) ORI=0/1deg(med/p90) j4sat=0.10/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=26mm(med) grip=24/512 bottle_2->pocket=223/296mm(med/p90) >> 08-14 19:01:37 [gen] step 360: lag=1/617mm(med/max) ORI=0/1deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=15mm(med) grip=490/512 bottle_2->pocket=221/294mm(med/p90) >> 08-14 19:02:28 [gen] step 400: lag=1/659mm(med/max) ORI=0/1deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=15mm(med) grip=493/512 bottle_2->pocket=222/295mm(med/p90) >> 08-14 19:03:26 [gen] step 440: lag=0/688mm(med/max) ORI=0/1deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_2_tilt=17/18deg(med/p90) eef->bottle_2=16mm(med) grip=490/512 bottle_2->pocket=222/295mm(med/p90) >> 08-14 19:03:49 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=15.3mm minimal-tilt=20.4deg free-spin=5.0deg (accepted) >> 08-14 19:03:50 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=107.6deg (of total-rotation=108.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:03:51 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=138.7deg (of total-rotation=156.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:03:52 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=13.0mm minimal-tilt=41.7deg free-spin=19.9deg (accepted) >> 08-14 19:03:52 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=104.7deg (of total-rotation=110.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:03:53 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=49.1deg (of total-rotation=57.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:03:53 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=11.9mm minimal-tilt=25.3deg free-spin=25.7deg (accepted) >> 08-14 19:03:53 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=13.6mm minimal-tilt=28.5deg free-spin=11.0deg (accepted) >> 08-14 19:03:54 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=108.2deg (of total-rotation=109.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:03:55 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=17.6mm minimal-tilt=16.3deg free-spin=24.0deg (accepted) >> 08-14 19:03:56 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=64.3deg (of total-rotation=66.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:03:56 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=148.1deg (of total-rotation=155.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:03:56 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=60.7deg (of total-rotation=61.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:03:56 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=18.8mm minimal-tilt=40.8deg free-spin=6.4deg (accepted) >> 08-14 19:03:57 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=16.6mm minimal-tilt=6.1deg free-spin=12.4deg (accepted) >> 08-14 19:03:58 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=75.6deg (of total-rotation=77.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:03:58 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=55.6deg (of total-rotation=56.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:03:59 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=67.4deg (of total-rotation=109.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:03:59 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=103.6deg (of total-rotation=110.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:03:59 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=61.2deg (of total-rotation=80.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:03:59 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=13.4mm minimal-tilt=32.8deg free-spin=13.5deg (accepted) >> 08-14 19:03:59 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=16.2mm minimal-tilt=15.4deg free-spin=17.8deg (accepted) >> 08-14 19:04:00 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=47.9deg (of total-rotation=48.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:00 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=47.4deg (of total-rotation=47.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:01 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=92.0deg (of total-rotation=101.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:01 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=53.2deg (of total-rotation=63.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:01 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=17.4mm minimal-tilt=16.6deg free-spin=0.9deg (accepted) >> 08-14 19:04:02 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=106.7deg (of total-rotation=109.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:02 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=63.0deg (of total-rotation=78.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:02 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=16.5mm minimal-tilt=23.2deg free-spin=11.7deg (accepted) >> 08-14 19:04:03 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=172.3deg (of total-rotation=173.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:03 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=12.1mm minimal-tilt=18.6deg free-spin=5.7deg (accepted) >> 08-14 19:04:03 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=15.4mm minimal-tilt=17.2deg free-spin=3.3deg (accepted) >> 08-14 19:04:03 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=15.9mm minimal-tilt=15.1deg free-spin=15.0deg (accepted) >> 08-14 19:04:04 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=108.4deg (of total-rotation=114.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:05 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=141.0deg (of total-rotation=154.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:05 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=152.2deg (of total-rotation=153.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:05 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=106.6deg (of total-rotation=108.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:06 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=48.7deg (of total-rotation=56.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:06 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=149.3deg (of total-rotation=155.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:07 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=49.5deg (of total-rotation=50.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:07 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=29.1mm minimal-tilt=24.7deg free-spin=1.6deg (accepted) >> 08-14 19:04:08 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=23.9mm minimal-tilt=6.3deg free-spin=11.2deg (accepted) >> 08-14 19:04:09 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=32.2mm minimal-tilt=28.9deg free-spin=2.8deg (accepted) >> 08-14 19:04:09 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=49.1deg (of total-rotation=49.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:10 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=53.1deg (of total-rotation=53.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:11 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=16.1mm minimal-tilt=27.5deg free-spin=19.0deg (accepted) >> 08-14 19:04:11 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=82.6deg (of total-rotation=83.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:11 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=68.4deg (of total-rotation=72.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:13 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=62.9deg (of total-rotation=64.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:13 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=108.4deg (of total-rotation=108.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:13 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=15.2mm minimal-tilt=21.8deg free-spin=11.0deg (accepted) >> 08-14 19:04:13 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=46.1deg (of total-rotation=67.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:13 [wpgen/graspdiag] insert_bottle_2: in-hand-offset=16.1mm minimal-tilt=14.2deg free-spin=29.4deg (accepted) >> 08-14 19:04:14 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=54.0deg (of total-rotation=55.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:16 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=45.5deg (of total-rotation=66.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:16 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=59.9deg (of total-rotation=60.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:17 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=61.8deg (of total-rotation=65.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:17 [wpgen/graspdiag] insert_bottle_2: REJECTED minimal-tilt=101.4deg (of total-rotation=111.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:04:46 [gen] step 480: lag=5/680mm(med/max) ORI=0/1deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_2_tilt=17/19deg(med/p90) eef->bottle_2=16mm(med) grip=492/512 bottle_2->pocket=222/296mm(med/p90) >> 08-14 19:05:44 [gen] step 520: lag=6/680mm(med/max) ORI=1/3deg(med/p90) j4sat=0.08/-0.00(med/min) bottle_2_tilt=17/23deg(med/p90) eef->bottle_2=16mm(med) grip=426/512 bottle_2->pocket=231/306mm(med/p90) >> 08-14 19:06:34 [gen] step 560: lag=5/680mm(med/max) ORI=0/2deg(med/p90) j4sat=0.06/-0.00(med/min) bottle_2_tilt=17/32deg(med/p90) eef->bottle_2=16mm(med) grip=423/512 bottle_2->pocket=230/300mm(med/p90) >> 08-14 19:07:24 [gen] step 600: lag=7/680mm(med/max) ORI=0/1deg(med/p90) j4sat=0.08/-0.00(med/min) bottle_2_tilt=15/33deg(med/p90) eef->bottle_2=16mm(med) grip=423/512 bottle_2->pocket=189/279mm(med/p90) >> 08-14 19:08:15 [gen] step 640: lag=8/680mm(med/max) ORI=0/1deg(med/p90) j4sat=0.09/-0.00(med/min) bottle_2_tilt=8/23deg(med/p90) eef->bottle_2=16mm(med) grip=423/512 bottle_2->pocket=144/235mm(med/p90) >> 08-14 19:09:15 [gen] step 680: lag=6/680mm(med/max) ORI=0/1deg(med/p90) j4sat=0.09/-0.00(med/min) bottle_2_tilt=2/18deg(med/p90) eef->bottle_2=16mm(med) grip=423/512 bottle_2->pocket=134/221mm(med/p90) >> 08-14 19:10:08 [gen] step 720: lag=4/680mm(med/max) ORI=0/1deg(med/p90) j4sat=0.10/-0.00(med/min) bottle_2_tilt=1/18deg(med/p90) eef->bottle_2=16mm(med) grip=423/512 bottle_2->pocket=128/221mm(med/p90) >> 08-14 19:11:00 [gen] step 760: lag=4/680mm(med/max) ORI=0/1deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_2_tilt=1/18deg(med/p90) eef->bottle_2=16mm(med) grip=423/512 bottle_2->pocket=109/221mm(med/p90) >> 08-14 19:11:52 [gen] step 800: lag=4/680mm(med/max) ORI=0/1deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_2_tilt=1/18deg(med/p90) eef->bottle_2=16mm(med) grip=423/512 bottle_2->pocket=107/221mm(med/p90) >> 08-14 19:12:56 [gen] step 840: lag=4/680mm(med/max) ORI=0/1deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_2_tilt=1/18deg(med/p90) eef->bottle_2=16mm(med) grip=423/512 bottle_2->pocket=107/221mm(med/p90) >> 08-14 19:13:55 [gen] step 880: lag=8/680mm(med/max) ORI=1/3deg(med/p90) j4sat=0.15/-0.00(med/min) bottle_2_tilt=1/21deg(med/p90) eef->bottle_2=16mm(med) grip=422/512 bottle_2->pocket=102/232mm(med/p90) >> 08-14 19:14:48 [gen] step 920: lag=7/680mm(med/max) ORI=1/3deg(med/p90) j4sat=0.16/-0.00(med/min) bottle_2_tilt=1/21deg(med/p90) eef->bottle_2=16mm(med) grip=422/512 bottle_2->pocket=102/232mm(med/p90) >> 08-14 19:15:43 [gen] step 960: lag=7/680mm(med/max) ORI=1/3deg(med/p90) j4sat=0.16/-0.00(med/min) bottle_2_tilt=1/21deg(med/p90) eef->bottle_2=16mm(med) grip=422/512 bottle_2->pocket=101/232mm(med/p90) >> 08-14 19:16:02 [wpgen/diag] place_bottle_2: post-phaseB margin-to-placed_z(mm) n=380 med=6.6 p10=0.5 frac_over=8% dist(mm) med=4.6 p90=141.3 >> 08-14 19:16:02 [wpgen/diag] place_bottle_2: PRECISION GATE rejected 238/380 (xy_tol=3.0mm tilt_tol=5.0deg) >> 08-14 19:16:49 [gen] step 1000: lag=11/680mm(med/max) ORI=1/2deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_2_tilt=17/107deg(med/p90) eef->bottle_2=26mm(med) grip=0/512 bottle_2->pocket=100/232mm(med/p90) >> 08-14 19:17:56 [gen] step 1040: lag=9/680mm(med/max) ORI=1/2deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_2_tilt=17/108deg(med/p90) eef->bottle_2=30mm(med) grip=0/512 bottle_2->pocket=101/232mm(med/p90) >> 08-14 19:18:47 [gen] step 1080: lag=10/680mm(med/max) ORI=1/5deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_2_tilt=17/108deg(med/p90) eef->bottle_2=26mm(med) grip=138/512 bottle_2->pocket=101/232mm(med/p90) >> 08-14 19:19:36 [gen] step 1120: lag=9/680mm(med/max) ORI=1/4deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_2_tilt=17/108deg(med/p90) eef->bottle_2=28mm(med) grip=138/512 bottle_2->pocket=101/232mm(med/p90) >> 08-14 19:20:20 [wpgen/press] push_seat_2: peak press force N all med=0.00 max=60.70 CONTACT n=183/512 med=10.32 p90=19.70 max=60.70 (gate 10.00 <= f <= 40.00) >> 08-14 19:20:20 [wpgen/diag] push_seat_2: post-push seat terms n=142 xy_ok=96% (dist med=1.4 p90=1.8mm tol=15) z_ok=98% (z med=21.0 p10=21.0mm seat_z=27) ori_ok=94% >> 08-14 19:20:26 [gen] step 1160: lag=4/680mm(med/max) ORI=1/2deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_2_tilt=17/108deg(med/p90) eef->bottle_2=32mm(med) grip=18/512 bottle_2->pocket=101/232mm(med/p90) >> 08-14 19:25:57 [wpgen/progress] batch 1 (cube b2): 89/512 kept running 89/400 (512 rollouts) >> 08-14 19:26:08 [gen] step 1200: lag=91/91mm(med/max) ORI=2/2deg(med/p90) j2sat=0.08/0.08(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=410mm(med) grip=0/512 bottle_2->pocket=153/271mm(med/p90) >> 08-14 19:26:53 [gen] step 1240: lag=9/40mm(med/max) ORI=0/0deg(med/p90) j2sat=0.10/0.09(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=404mm(med) grip=0/512 bottle_2->pocket=153/271mm(med/p90) >> 08-14 19:27:24 [gen] step 1280: lag=20/188mm(med/max) ORI=1/1deg(med/p90) j2sat=0.19/0.07(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=395mm(med) grip=0/512 bottle_2->pocket=153/271mm(med/p90) >> 08-14 19:27:57 [gen] step 1320: lag=14/424mm(med/max) ORI=8/11deg(med/p90) j4sat=-0.00/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=397mm(med) grip=0/512 bottle_2->pocket=153/271mm(med/p90) >> 08-14 19:28:28 [gen] step 1360: lag=47/297mm(med/max) ORI=27/31deg(med/p90) j4sat=-0.00/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=376mm(med) grip=0/512 bottle_2->pocket=153/271mm(med/p90) >> 08-14 19:29:00 [gen] step 1400: lag=58/299mm(med/max) ORI=32/36deg(med/p90) j4sat=-0.00/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=370mm(med) grip=0/512 bottle_2->pocket=153/272mm(med/p90) >> 08-14 19:29:31 [gen] step 1440: lag=58/348mm(med/max) ORI=29/38deg(med/p90) j4sat=-0.00/-0.00(med/min) bottle_3_tilt=17/17deg(med/p90) eef->bottle_3=288mm(med) grip=0/512 bottle_3->pocket=218/299mm(med/p90) >> 08-14 19:30:03 [gen] step 1480: lag=12/451mm(med/max) ORI=0/9deg(med/p90) j4sat=0.02/-0.00(med/min) bottle_3_tilt=17/17deg(med/p90) eef->bottle_3=81mm(med) grip=0/512 bottle_3->pocket=218/299mm(med/p90) >> 08-14 19:30:36 [gen] step 1520: lag=2/572mm(med/max) ORI=0/1deg(med/p90) j4sat=0.11/-0.00(med/min) bottle_3_tilt=17/17deg(med/p90) eef->bottle_3=26mm(med) grip=33/512 bottle_3->pocket=218/299mm(med/p90) >> 08-14 19:31:09 [gen] step 1560: lag=1/553mm(med/max) ORI=0/1deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_3_tilt=17/17deg(med/p90) eef->bottle_3=14mm(med) grip=499/512 bottle_3->pocket=218/301mm(med/p90) >> 08-14 19:31:41 [gen] step 1600: lag=1/576mm(med/max) ORI=0/1deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_3_tilt=17/17deg(med/p90) eef->bottle_3=14mm(med) grip=503/512 bottle_3->pocket=218/301mm(med/p90) >> 08-14 19:32:15 [gen] step 1640: lag=1/576mm(med/max) ORI=0/1deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_3_tilt=17/17deg(med/p90) eef->bottle_3=15mm(med) grip=499/512 bottle_3->pocket=218/300mm(med/p90) >> 08-14 19:32:29 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=45.6deg (of total-rotation=89.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:29 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=48.0deg (of total-rotation=99.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:29 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=61.9deg (of total-rotation=85.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:29 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=54.6deg (of total-rotation=77.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:29 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=57.8deg (of total-rotation=80.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:29 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=45.2deg (of total-rotation=66.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:29 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=67.5deg (of total-rotation=100.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:29 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=64.2deg (of total-rotation=115.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:29 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=61.3deg (of total-rotation=66.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:29 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=50.8deg (of total-rotation=64.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:29 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=46.8deg (of total-rotation=86.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:29 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=64.2deg (of total-rotation=78.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=68.1deg (of total-rotation=82.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=85.3deg (of total-rotation=88.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: in-hand-offset=15.3mm minimal-tilt=42.2deg free-spin=25.8deg (accepted) >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=57.8deg (of total-rotation=101.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=106.6deg (of total-rotation=111.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=45.9deg (of total-rotation=112.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=45.1deg (of total-rotation=72.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=58.0deg (of total-rotation=82.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=70.1deg (of total-rotation=90.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=82.9deg (of total-rotation=87.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=57.0deg (of total-rotation=86.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=76.1deg (of total-rotation=87.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=80.3deg (of total-rotation=84.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=45.4deg (of total-rotation=64.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=51.1deg (of total-rotation=65.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=91.5deg (of total-rotation=97.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=46.3deg (of total-rotation=91.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=54.9deg (of total-rotation=77.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=95.7deg (of total-rotation=98.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=52.2deg (of total-rotation=107.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=57.4deg (of total-rotation=95.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:30 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=61.1deg (of total-rotation=87.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: in-hand-offset=17.7mm minimal-tilt=30.8deg free-spin=38.1deg (accepted) >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=71.1deg (of total-rotation=101.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=70.7deg (of total-rotation=85.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=56.6deg (of total-rotation=79.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=59.7deg (of total-rotation=64.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=87.9deg (of total-rotation=160.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=53.1deg (of total-rotation=93.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=58.6deg (of total-rotation=75.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=50.6deg (of total-rotation=106.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=69.1deg (of total-rotation=94.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=100.3deg (of total-rotation=105.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=53.9deg (of total-rotation=105.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=100.8deg (of total-rotation=105.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=46.4deg (of total-rotation=66.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=83.2deg (of total-rotation=84.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=93.6deg (of total-rotation=98.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=56.7deg (of total-rotation=76.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=46.7deg (of total-rotation=84.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=47.4deg (of total-rotation=69.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=56.6deg (of total-rotation=78.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=46.2deg (of total-rotation=59.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=101.3deg (of total-rotation=106.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=47.3deg (of total-rotation=89.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=54.4deg (of total-rotation=93.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=98.3deg (of total-rotation=113.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:31 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=48.9deg (of total-rotation=73.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=73.2deg (of total-rotation=100.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=94.1deg (of total-rotation=97.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=49.1deg (of total-rotation=70.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=49.7deg (of total-rotation=96.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=70.2deg (of total-rotation=76.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=47.2deg (of total-rotation=77.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=63.7deg (of total-rotation=86.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=63.0deg (of total-rotation=77.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=69.3deg (of total-rotation=132.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: in-hand-offset=15.7mm minimal-tilt=17.5deg free-spin=52.6deg (accepted) >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=72.2deg (of total-rotation=76.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=51.6deg (of total-rotation=107.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=71.3deg (of total-rotation=75.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=46.3deg (of total-rotation=69.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=90.6deg (of total-rotation=109.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=72.4deg (of total-rotation=77.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=126.9deg (of total-rotation=131.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=50.3deg (of total-rotation=66.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=45.5deg (of total-rotation=72.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=47.4deg (of total-rotation=65.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=45.5deg (of total-rotation=73.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=100.6deg (of total-rotation=114.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=51.6deg (of total-rotation=71.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:32 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=47.9deg (of total-rotation=80.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:33 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=49.7deg (of total-rotation=70.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:33 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=56.6deg (of total-rotation=74.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:33 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=77.3deg (of total-rotation=82.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:33 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=58.7deg (of total-rotation=108.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:33 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=54.9deg (of total-rotation=91.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:33 [wpgen/graspdiag] insert_bottle_3: in-hand-offset=12.7mm minimal-tilt=9.6deg free-spin=100.1deg (accepted) >> 08-14 19:32:33 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=58.2deg (of total-rotation=99.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:33 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=55.6deg (of total-rotation=77.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:33 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=48.2deg (of total-rotation=61.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:33 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=81.4deg (of total-rotation=86.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:33 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=50.7deg (of total-rotation=105.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:33 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=88.5deg (of total-rotation=117.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:33 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=63.1deg (of total-rotation=94.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:33 [wpgen/graspdiag] insert_bottle_3: in-hand-offset=17.7mm minimal-tilt=30.8deg free-spin=44.6deg (accepted) >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=64.7deg (of total-rotation=88.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=61.8deg (of total-rotation=76.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=65.6deg (of total-rotation=97.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=49.6deg (of total-rotation=56.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=56.8deg (of total-rotation=100.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=97.9deg (of total-rotation=107.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=75.4deg (of total-rotation=80.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=64.4deg (of total-rotation=88.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=99.5deg (of total-rotation=105.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: in-hand-offset=11.9mm minimal-tilt=9.6deg free-spin=85.7deg (accepted) >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=88.4deg (of total-rotation=100.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=72.5deg (of total-rotation=99.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=58.7deg (of total-rotation=77.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=57.3deg (of total-rotation=83.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=49.0deg (of total-rotation=60.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=55.5deg (of total-rotation=95.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=70.4deg (of total-rotation=89.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: in-hand-offset=18.3mm minimal-tilt=26.0deg free-spin=30.9deg (accepted) >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=52.4deg (of total-rotation=63.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=45.2deg (of total-rotation=62.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=99.9deg (of total-rotation=107.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=81.3deg (of total-rotation=91.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:34 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=48.3deg (of total-rotation=80.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=51.9deg (of total-rotation=92.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=45.4deg (of total-rotation=74.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=110.1deg (of total-rotation=114.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=65.3deg (of total-rotation=88.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=45.6deg (of total-rotation=59.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=49.2deg (of total-rotation=70.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=55.8deg (of total-rotation=81.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=49.1deg (of total-rotation=82.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=84.1deg (of total-rotation=84.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=73.9deg (of total-rotation=93.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=53.8deg (of total-rotation=80.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: in-hand-offset=12.4mm minimal-tilt=14.8deg free-spin=49.8deg (accepted) >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: in-hand-offset=11.5mm minimal-tilt=30.4deg free-spin=25.1deg (accepted) >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=50.7deg (of total-rotation=82.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=49.0deg (of total-rotation=80.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=48.0deg (of total-rotation=85.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=68.1deg (of total-rotation=102.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=77.0deg (of total-rotation=80.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=94.0deg (of total-rotation=99.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=62.6deg (of total-rotation=78.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=60.4deg (of total-rotation=85.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:35 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=76.0deg (of total-rotation=85.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:36 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=55.3deg (of total-rotation=90.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:36 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=54.0deg (of total-rotation=91.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:36 [wpgen/graspdiag] insert_bottle_3: in-hand-offset=16.8mm minimal-tilt=38.2deg free-spin=20.3deg (accepted) >> 08-14 19:32:36 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=72.4deg (of total-rotation=76.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:36 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=56.4deg (of total-rotation=91.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:36 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=52.9deg (of total-rotation=73.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:36 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=87.8deg (of total-rotation=110.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:36 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=73.7deg (of total-rotation=106.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:36 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=55.3deg (of total-rotation=96.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:36 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=50.7deg (of total-rotation=92.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:36 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=80.2deg (of total-rotation=105.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:36 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=90.4deg (of total-rotation=94.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:36 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=100.1deg (of total-rotation=105.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:36 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=46.0deg (of total-rotation=90.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:36 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=51.0deg (of total-rotation=90.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:36 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=46.4deg (of total-rotation=49.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:36 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=46.3deg (of total-rotation=62.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=73.0deg (of total-rotation=86.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=59.2deg (of total-rotation=86.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=55.9deg (of total-rotation=96.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=62.2deg (of total-rotation=104.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=56.5deg (of total-rotation=97.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=73.6deg (of total-rotation=90.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=50.4deg (of total-rotation=67.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=66.9deg (of total-rotation=92.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=84.3deg (of total-rotation=89.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=77.4deg (of total-rotation=90.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=60.3deg (of total-rotation=98.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=83.3deg (of total-rotation=87.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=47.1deg (of total-rotation=86.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: in-hand-offset=16.9mm minimal-tilt=43.6deg free-spin=16.0deg (accepted) >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=45.9deg (of total-rotation=88.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=92.3deg (of total-rotation=98.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=52.8deg (of total-rotation=71.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=61.6deg (of total-rotation=111.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:37 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=51.7deg (of total-rotation=73.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:38 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=47.4deg (of total-rotation=91.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:38 [wpgen/graspdiag] insert_bottle_3: in-hand-offset=12.3mm minimal-tilt=12.7deg free-spin=62.1deg (accepted) >> 08-14 19:32:38 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=50.5deg (of total-rotation=101.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:38 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=93.8deg (of total-rotation=114.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:38 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=69.1deg (of total-rotation=76.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:38 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=62.0deg (of total-rotation=78.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:38 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=56.1deg (of total-rotation=67.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:38 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=65.4deg (of total-rotation=86.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:38 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=47.2deg (of total-rotation=80.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:38 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=57.8deg (of total-rotation=58.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:38 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=46.1deg (of total-rotation=59.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:38 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=54.0deg (of total-rotation=72.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:38 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=48.0deg (of total-rotation=63.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:38 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=65.7deg (of total-rotation=71.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:38 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=55.2deg (of total-rotation=93.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:38 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=48.7deg (of total-rotation=81.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:38 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=97.5deg (of total-rotation=161.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:39 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=60.9deg (of total-rotation=108.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:39 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=49.0deg (of total-rotation=58.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:39 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=110.5deg (of total-rotation=116.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:39 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=87.1deg (of total-rotation=93.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:39 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=46.0deg (of total-rotation=79.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:39 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=48.9deg (of total-rotation=95.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:39 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=45.0deg (of total-rotation=82.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:39 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=48.5deg (of total-rotation=81.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:39 [wpgen/graspdiag] insert_bottle_3: in-hand-offset=12.3mm minimal-tilt=11.3deg free-spin=74.2deg (accepted) >> 08-14 19:32:39 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=49.9deg (of total-rotation=97.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:39 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=49.5deg (of total-rotation=60.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:39 [wpgen/graspdiag] insert_bottle_3: in-hand-offset=19.3mm minimal-tilt=35.8deg free-spin=50.1deg (accepted) >> 08-14 19:32:39 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=52.5deg (of total-rotation=74.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:39 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=72.5deg (of total-rotation=85.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:39 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=69.9deg (of total-rotation=77.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:40 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=142.5deg (of total-rotation=155.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:40 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=89.3deg (of total-rotation=100.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:40 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=106.5deg (of total-rotation=111.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:40 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=52.5deg (of total-rotation=90.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:40 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=64.5deg (of total-rotation=88.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:40 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=95.2deg (of total-rotation=114.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:40 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=91.5deg (of total-rotation=97.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:40 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=63.0deg (of total-rotation=92.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:40 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=58.5deg (of total-rotation=108.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:40 [wpgen/graspdiag] insert_bottle_3: REJECTED minimal-tilt=76.3deg (of total-rotation=79.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:32:59 [gen] step 1680: lag=3/587mm(med/max) ORI=0/1deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_3_tilt=17/18deg(med/p90) eef->bottle_3=15mm(med) grip=500/512 bottle_3->pocket=219/300mm(med/p90) >> 08-14 19:33:34 [gen] step 1720: lag=6/587mm(med/max) ORI=1/1deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_3_tilt=18/24deg(med/p90) eef->bottle_3=15mm(med) grip=493/512 bottle_3->pocket=222/302mm(med/p90) >> 08-14 19:34:08 [gen] step 1760: lag=5/587mm(med/max) ORI=1/2deg(med/p90) j4sat=0.10/-0.00(med/min) bottle_3_tilt=18/33deg(med/p90) eef->bottle_3=15mm(med) grip=492/512 bottle_3->pocket=228/309mm(med/p90) >> 08-14 19:34:40 [gen] step 1800: lag=4/587mm(med/max) ORI=0/3deg(med/p90) j4sat=0.08/-0.00(med/min) bottle_3_tilt=17/35deg(med/p90) eef->bottle_3=15mm(med) grip=491/512 bottle_3->pocket=229/308mm(med/p90) >> 08-14 19:35:16 [gen] step 1840: lag=4/587mm(med/max) ORI=0/2deg(med/p90) j4sat=0.07/-0.00(med/min) bottle_3_tilt=17/35deg(med/p90) eef->bottle_3=15mm(med) grip=491/512 bottle_3->pocket=204/300mm(med/p90) >> 08-14 19:35:48 [gen] step 1880: lag=5/587mm(med/max) ORI=0/1deg(med/p90) j4sat=0.08/-0.00(med/min) bottle_3_tilt=17/30deg(med/p90) eef->bottle_3=15mm(med) grip=491/512 bottle_3->pocket=172/289mm(med/p90) >> 08-14 19:36:21 [gen] step 1920: lag=5/587mm(med/max) ORI=0/1deg(med/p90) j4sat=0.08/-0.00(med/min) bottle_3_tilt=16/19deg(med/p90) eef->bottle_3=15mm(med) grip=491/512 bottle_3->pocket=151/277mm(med/p90) >> 08-14 19:36:55 [gen] step 1960: lag=4/587mm(med/max) ORI=0/1deg(med/p90) j4sat=0.09/-0.00(med/min) bottle_3_tilt=8/18deg(med/p90) eef->bottle_3=15mm(med) grip=491/512 bottle_3->pocket=143/269mm(med/p90) >> 08-14 19:37:30 [gen] step 2000: lag=4/587mm(med/max) ORI=0/1deg(med/p90) j4sat=0.10/-0.00(med/min) bottle_3_tilt=2/17deg(med/p90) eef->bottle_3=15mm(med) grip=491/512 bottle_3->pocket=133/269mm(med/p90) >> 08-14 19:38:14 [gen] step 2040: lag=4/587mm(med/max) ORI=0/1deg(med/p90) j4sat=0.11/-0.00(med/min) bottle_3_tilt=1/17deg(med/p90) eef->bottle_3=15mm(med) grip=491/512 bottle_3->pocket=126/269mm(med/p90) >> 08-14 19:38:47 [gen] step 2080: lag=4/587mm(med/max) ORI=0/1deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_3_tilt=1/17deg(med/p90) eef->bottle_3=15mm(med) grip=490/512 bottle_3->pocket=112/269mm(med/p90) >> 08-14 19:39:23 [gen] step 2120: lag=4/587mm(med/max) ORI=0/1deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_3_tilt=1/17deg(med/p90) eef->bottle_3=15mm(med) grip=490/512 bottle_3->pocket=111/269mm(med/p90) >> 08-14 19:39:59 [gen] step 2160: lag=4/587mm(med/max) ORI=0/1deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_3_tilt=1/17deg(med/p90) eef->bottle_3=15mm(med) grip=490/512 bottle_3->pocket=110/274mm(med/p90) >> 08-14 19:40:35 [gen] step 2200: lag=6/587mm(med/max) ORI=1/2deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_3_tilt=2/17deg(med/p90) eef->bottle_3=15mm(med) grip=490/512 bottle_3->pocket=103/274mm(med/p90) >> 08-14 19:41:06 [wpgen/diag] place_bottle_3: post-phaseB margin-to-placed_z(mm) n=282 med=7.4 p10=3.5 frac_over=2% dist(mm) med=2.2 p90=7.9 >> 08-14 19:41:06 [wpgen/diag] place_bottle_3: PRECISION GATE rejected 84/282 (xy_tol=3.0mm tilt_tol=5.0deg) >> 08-14 19:41:33 [gen] step 2240: lag=10/587mm(med/max) ORI=1/2deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_3_tilt=17/59deg(med/p90) eef->bottle_3=27mm(med) grip=0/512 bottle_3->pocket=102/273mm(med/p90) >> 08-14 19:42:07 [gen] step 2280: lag=7/587mm(med/max) ORI=0/2deg(med/p90) j4sat=0.09/-0.00(med/min) bottle_3_tilt=17/65deg(med/p90) eef->bottle_3=28mm(med) grip=0/512 bottle_3->pocket=102/273mm(med/p90) >> 08-14 19:42:44 [gen] step 2320: lag=11/587mm(med/max) ORI=1/5deg(med/p90) j4sat=0.11/-0.00(med/min) bottle_3_tilt=17/63deg(med/p90) eef->bottle_3=17mm(med) grip=191/512 bottle_3->pocket=102/273mm(med/p90) >> 08-14 19:43:19 [gen] step 2360: lag=8/587mm(med/max) ORI=1/4deg(med/p90) j4sat=0.10/-0.00(med/min) bottle_3_tilt=17/65deg(med/p90) eef->bottle_3=22mm(med) grip=191/512 bottle_3->pocket=102/273mm(med/p90) >> 08-14 19:43:53 [wpgen/press] push_seat_3: peak press force N all med=0.00 max=93.26 CONTACT n=225/512 med=11.07 p90=18.65 max=93.26 (gate 10.00 <= f <= 40.00) >> 08-14 19:43:53 [wpgen/diag] push_seat_3: post-push seat terms n=198 xy_ok=97% (dist med=1.4 p90=1.9mm tol=15) z_ok=97% (z med=21.0 p10=21.0mm seat_z=27) ori_ok=93% >> 08-14 19:43:55 [gen] step 2400: lag=1/587mm(med/max) ORI=0/2deg(med/p90) j4sat=0.09/-0.00(med/min) bottle_3_tilt=17/65deg(med/p90) eef->bottle_3=30mm(med) grip=18/512 bottle_3->pocket=102/273mm(med/p90) >> 08-14 19:49:06 [wpgen/progress] batch 2 (cube b3): 126/512 kept running 215/400 (1024 rollouts) >> 08-14 19:49:15 [gen] step 2440: lag=91/91mm(med/max) ORI=2/2deg(med/p90) j2sat=0.08/0.08(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=375mm(med) grip=0/512 bottle_0->pocket=222/283mm(med/p90) >> 08-14 19:50:08 [gen] step 2480: lag=6/39mm(med/max) ORI=0/0deg(med/p90) j2sat=0.10/0.09(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=373mm(med) grip=0/512 bottle_0->pocket=222/283mm(med/p90) >> 08-14 19:50:43 [gen] step 2520: lag=13/214mm(med/max) ORI=1/1deg(med/p90) j2sat=0.19/0.07(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=363mm(med) grip=0/512 bottle_0->pocket=222/283mm(med/p90) >> 08-14 19:51:18 [gen] step 2560: lag=14/478mm(med/max) ORI=11/12deg(med/p90) j4sat=-0.00/-0.00(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=363mm(med) grip=0/512 bottle_0->pocket=222/283mm(med/p90) >> 08-14 19:51:53 [gen] step 2600: lag=50/337mm(med/max) ORI=31/36deg(med/p90) j4sat=-0.00/-0.00(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=328mm(med) grip=0/512 bottle_0->pocket=222/283mm(med/p90) >> 08-14 19:52:26 [gen] step 2640: lag=63/355mm(med/max) ORI=34/41deg(med/p90) j4sat=-0.00/-0.00(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=313mm(med) grip=0/512 bottle_0->pocket=222/283mm(med/p90) >> 08-14 19:53:00 [gen] step 2680: lag=44/376mm(med/max) ORI=21/36deg(med/p90) j4sat=-0.00/-0.00(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=231mm(med) grip=0/512 bottle_0->pocket=222/283mm(med/p90) >> 08-14 19:53:35 [gen] step 2720: lag=3/547mm(med/max) ORI=0/4deg(med/p90) j4sat=0.08/-0.00(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=34mm(med) grip=0/512 bottle_0->pocket=222/283mm(med/p90) >> 08-14 19:54:09 [gen] step 2760: lag=5/589mm(med/max) ORI=0/3deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=15mm(med) grip=180/512 bottle_0->pocket=223/284mm(med/p90) >> 08-14 19:54:45 [gen] step 2800: lag=1/626mm(med/max) ORI=0/2deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_0_tilt=17/23deg(med/p90) eef->bottle_0=15mm(med) grip=479/512 bottle_0->pocket=224/283mm(med/p90) >> 08-14 19:55:20 [gen] step 2840: lag=1/655mm(med/max) ORI=0/2deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_0_tilt=17/23deg(med/p90) eef->bottle_0=15mm(med) grip=479/512 bottle_0->pocket=224/283mm(med/p90) >> 08-14 19:55:59 [gen] step 2880: lag=0/657mm(med/max) ORI=0/2deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_0_tilt=17/64deg(med/p90) eef->bottle_0=16mm(med) grip=475/512 bottle_0->pocket=222/282mm(med/p90) >> 08-14 19:56:09 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=49.3deg (of total-rotation=49.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:09 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=17.1mm minimal-tilt=15.4deg free-spin=15.0deg (accepted) >> 08-14 19:56:10 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=105.4deg (of total-rotation=111.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:10 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=14.8mm minimal-tilt=22.4deg free-spin=6.4deg (accepted) >> 08-14 19:56:11 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=45.4deg (of total-rotation=57.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:11 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=11.6mm minimal-tilt=18.0deg free-spin=2.5deg (accepted) >> 08-14 19:56:12 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=29.3mm minimal-tilt=2.5deg free-spin=17.6deg (accepted) >> 08-14 19:56:12 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=102.9deg (of total-rotation=110.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:13 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=115.1deg (of total-rotation=115.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:13 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=106.3deg (of total-rotation=110.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:13 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=102.5deg (of total-rotation=112.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:13 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=104.4deg (of total-rotation=109.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:13 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=74.0deg (of total-rotation=78.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:13 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=32.2mm minimal-tilt=35.3deg free-spin=0.0deg (accepted) >> 08-14 19:56:14 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=109.3deg (of total-rotation=113.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:14 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=14.9mm minimal-tilt=17.5deg free-spin=0.0deg (accepted) >> 08-14 19:56:14 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=17.1mm minimal-tilt=18.8deg free-spin=2.5deg (accepted) >> 08-14 19:56:15 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=15.4mm minimal-tilt=19.1deg free-spin=0.6deg (accepted) >> 08-14 19:56:15 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=107.2deg (of total-rotation=108.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:16 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=160.1deg (of total-rotation=168.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:16 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=11.5mm minimal-tilt=20.5deg free-spin=8.6deg (accepted) >> 08-14 19:56:17 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=94.3deg (of total-rotation=100.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:17 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=64.1deg (of total-rotation=71.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:18 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=52.3deg (of total-rotation=53.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:18 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=149.2deg (of total-rotation=153.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:18 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=15.0mm minimal-tilt=17.5deg free-spin=0.0deg (accepted) >> 08-14 19:56:18 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.0deg (of total-rotation=108.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:18 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=48.7deg (of total-rotation=49.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:19 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=21.7mm minimal-tilt=19.6deg free-spin=2.3deg (accepted) >> 08-14 19:56:19 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=17.6mm minimal-tilt=16.9deg free-spin=0.2deg (accepted) >> 08-14 19:56:19 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=16.8mm minimal-tilt=17.9deg free-spin=2.5deg (accepted) >> 08-14 19:56:19 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=55.8deg (of total-rotation=56.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:19 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=149.7deg (of total-rotation=153.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:20 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=157.2deg (of total-rotation=168.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:20 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=107.5deg (of total-rotation=108.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:20 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=16.7mm minimal-tilt=19.8deg free-spin=1.6deg (accepted) >> 08-14 19:56:21 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=11.8mm minimal-tilt=18.4deg free-spin=4.3deg (accepted) >> 08-14 19:56:21 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=144.8deg (of total-rotation=153.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:21 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.1deg (of total-rotation=109.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:22 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=48.2deg (of total-rotation=48.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:22 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=15.8mm minimal-tilt=23.5deg free-spin=6.5deg (accepted) >> 08-14 19:56:22 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=17.6mm minimal-tilt=17.8deg free-spin=2.4deg (accepted) >> 08-14 19:56:22 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=19.2mm minimal-tilt=17.7deg free-spin=0.8deg (accepted) >> 08-14 19:56:23 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=23.3mm minimal-tilt=11.6deg free-spin=6.2deg (accepted) >> 08-14 19:56:23 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.9deg (of total-rotation=108.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:23 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=23.6mm minimal-tilt=24.2deg free-spin=2.3deg (accepted) >> 08-14 19:56:23 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=25.1mm minimal-tilt=22.9deg free-spin=2.1deg (accepted) >> 08-14 19:56:23 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=47.8deg (of total-rotation=48.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 19:56:49 [gen] step 2920: lag=8/650mm(med/max) ORI=0/3deg(med/p90) j4sat=0.10/-0.00(med/min) bottle_0_tilt=17/65deg(med/p90) eef->bottle_0=16mm(med) grip=458/512 bottle_0->pocket=225/288mm(med/p90) >> 08-14 19:57:24 [gen] step 2960: lag=5/650mm(med/max) ORI=0/6deg(med/p90) j4sat=0.03/-0.00(med/min) bottle_0_tilt=17/65deg(med/p90) eef->bottle_0=16mm(med) grip=395/512 bottle_0->pocket=239/298mm(med/p90) >> 08-14 19:58:03 [gen] step 3000: lag=6/650mm(med/max) ORI=0/5deg(med/p90) j4sat=0.05/-0.00(med/min) bottle_0_tilt=16/65deg(med/p90) eef->bottle_0=16mm(med) grip=394/512 bottle_0->pocket=210/272mm(med/p90) >> 08-14 19:58:37 [gen] step 3040: lag=7/650mm(med/max) ORI=1/2deg(med/p90) j4sat=0.07/-0.00(med/min) bottle_0_tilt=10/65deg(med/p90) eef->bottle_0=16mm(med) grip=394/512 bottle_0->pocket=151/238mm(med/p90) >> 08-14 19:59:11 [gen] step 3080: lag=7/650mm(med/max) ORI=1/2deg(med/p90) j4sat=0.07/-0.00(med/min) bottle_0_tilt=4/65deg(med/p90) eef->bottle_0=16mm(med) grip=394/512 bottle_0->pocket=135/228mm(med/p90) >> 08-14 19:59:50 [gen] step 3120: lag=5/650mm(med/max) ORI=1/2deg(med/p90) j4sat=0.08/-0.00(med/min) bottle_0_tilt=1/65deg(med/p90) eef->bottle_0=16mm(med) grip=395/512 bottle_0->pocket=137/228mm(med/p90) >> 08-14 20:00:24 [gen] step 3160: lag=4/650mm(med/max) ORI=0/1deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_0_tilt=1/65deg(med/p90) eef->bottle_0=16mm(med) grip=395/512 bottle_0->pocket=111/228mm(med/p90) >> 08-14 20:00:59 [gen] step 3200: lag=4/650mm(med/max) ORI=0/1deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_0_tilt=1/65deg(med/p90) eef->bottle_0=16mm(med) grip=395/512 bottle_0->pocket=108/228mm(med/p90) >> 08-14 20:01:35 [gen] step 3240: lag=3/650mm(med/max) ORI=0/1deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_0_tilt=0/65deg(med/p90) eef->bottle_0=16mm(med) grip=395/512 bottle_0->pocket=108/228mm(med/p90) >> 08-14 20:02:10 [gen] step 3280: lag=7/650mm(med/max) ORI=1/3deg(med/p90) j4sat=0.15/-0.00(med/min) bottle_0_tilt=2/65deg(med/p90) eef->bottle_0=16mm(med) grip=391/512 bottle_0->pocket=102/242mm(med/p90) >> 08-14 20:02:51 [gen] step 3320: lag=7/650mm(med/max) ORI=1/3deg(med/p90) j4sat=0.15/-0.00(med/min) bottle_0_tilt=2/65deg(med/p90) eef->bottle_0=16mm(med) grip=391/512 bottle_0->pocket=102/244mm(med/p90) >> 08-14 20:03:26 [gen] step 3360: lag=7/650mm(med/max) ORI=1/3deg(med/p90) j4sat=0.15/-0.00(med/min) bottle_0_tilt=2/65deg(med/p90) eef->bottle_0=16mm(med) grip=391/512 bottle_0->pocket=102/244mm(med/p90) >> 08-14 20:03:57 [wpgen/diag] place_bottle_0: post-phaseB margin-to-placed_z(mm) n=365 med=6.6 p10=1.9 frac_over=7% dist(mm) med=3.8 p90=89.4 >> 08-14 20:03:57 [wpgen/diag] place_bottle_0: PRECISION GATE rejected 214/365 (xy_tol=3.0mm tilt_tol=5.0deg) >> 08-14 20:04:01 [gen] step 3400: lag=13/650mm(med/max) ORI=1/2deg(med/p90) j4sat=0.15/-0.00(med/min) bottle_0_tilt=21/108deg(med/p90) eef->bottle_0=28mm(med) grip=0/512 bottle_0->pocket=101/246mm(med/p90) >> 08-14 20:04:42 [gen] step 3440: lag=11/650mm(med/max) ORI=1/4deg(med/p90) j4sat=0.11/-0.00(med/min) bottle_0_tilt=17/107deg(med/p90) eef->bottle_0=87mm(med) grip=0/512 bottle_0->pocket=101/246mm(med/p90) >> 08-14 20:05:17 [gen] step 3480: lag=7/650mm(med/max) ORI=1/3deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_0_tilt=17/108deg(med/p90) eef->bottle_0=30mm(med) grip=0/512 bottle_0->pocket=101/246mm(med/p90) >> 08-14 20:05:59 [gen] step 3520: lag=7/650mm(med/max) ORI=1/4deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_0_tilt=17/108deg(med/p90) eef->bottle_0=29mm(med) grip=148/512 bottle_0->pocket=101/246mm(med/p90) >> 08-14 20:06:34 [gen] step 3560: lag=11/650mm(med/max) ORI=1/5deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_0_tilt=17/108deg(med/p90) eef->bottle_0=28mm(med) grip=141/512 bottle_0->pocket=101/246mm(med/p90) >> 08-14 20:07:09 [gen] step 3600: lag=8/650mm(med/max) ORI=1/3deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_0_tilt=17/108deg(med/p90) eef->bottle_0=34mm(med) grip=32/512 bottle_0->pocket=101/246mm(med/p90) >> 08-14 20:07:26 [wpgen/press] push_seat_0: peak press force N all med=0.00 max=89.64 CONTACT n=197/512 med=9.99 p90=16.65 max=89.64 (gate 10.00 <= f <= 40.00) >> 08-14 20:07:26 [wpgen/diag] push_seat_0: post-push seat terms n=151 xy_ok=99% (dist med=1.4 p90=1.8mm tol=15) z_ok=100% (z med=21.0 p10=21.0mm seat_z=27) ori_ok=97% >> 08-14 20:07:45 [gen] step 3640: lag=9/650mm(med/max) ORI=1/4deg(med/p90) j4sat=0.11/-0.00(med/min) bottle_0_tilt=17/108deg(med/p90) eef->bottle_0=45mm(med) grip=19/512 bottle_0->pocket=101/246mm(med/p90) >> 08-14 20:13:13 [wpgen/progress] batch 3 (cube b0): 90/512 kept running 305/400 (1536 rollouts) >> 08-14 20:13:59 [gen] step 3680: lag=91/91mm(med/max) ORI=2/2deg(med/p90) j2sat=0.08/0.08(med/min) bottle_1_tilt=17/17deg(med/p90) eef->bottle_1=375mm(med) grip=0/512 bottle_1->pocket=222/284mm(med/p90) >> 08-14 20:15:52 [gen] step 3720: lag=11/90mm(med/max) ORI=1/1deg(med/p90) j2sat=0.12/0.08(med/min) bottle_1_tilt=17/17deg(med/p90) eef->bottle_1=368mm(med) grip=0/512 bottle_1->pocket=222/284mm(med/p90) >> 08-14 20:16:51 [gen] step 3760: lag=17/302mm(med/max) ORI=1/1deg(med/p90) j4sat=0.08/0.06(med/min) bottle_1_tilt=17/17deg(med/p90) eef->bottle_1=361mm(med) grip=0/512 bottle_1->pocket=222/284mm(med/p90) >> 08-14 20:17:44 [gen] step 3800: lag=33/521mm(med/max) ORI=21/24deg(med/p90) j4sat=-0.00/-0.00(med/min) bottle_1_tilt=17/17deg(med/p90) eef->bottle_1=345mm(med) grip=0/512 bottle_1->pocket=222/284mm(med/p90) >> 08-14 20:18:41 [gen] step 3840: lag=56/328mm(med/max) ORI=33/38deg(med/p90) j4sat=-0.00/-0.00(med/min) bottle_1_tilt=17/17deg(med/p90) eef->bottle_1=325mm(med) grip=0/512 bottle_1->pocket=222/284mm(med/p90) >> 08-14 20:19:41 [gen] step 3880: lag=63/336mm(med/max) ORI=32/42deg(med/p90) j4sat=-0.00/-0.00(med/min) bottle_1_tilt=17/17deg(med/p90) eef->bottle_1=300mm(med) grip=0/512 bottle_1->pocket=222/284mm(med/p90) >> 08-14 20:20:39 [gen] step 3920: lag=22/335mm(med/max) ORI=5/23deg(med/p90) j4sat=0.00/-0.00(med/min) bottle_1_tilt=17/17deg(med/p90) eef->bottle_1=139mm(med) grip=0/512 bottle_1->pocket=222/284mm(med/p90) >> 08-14 20:21:37 [gen] step 3960: lag=1/361mm(med/max) ORI=0/2deg(med/p90) j4sat=0.09/-0.00(med/min) bottle_1_tilt=17/17deg(med/p90) eef->bottle_1=30mm(med) grip=1/512 bottle_1->pocket=222/284mm(med/p90) >> 08-14 20:22:39 [gen] step 4000: lag=1/555mm(med/max) ORI=0/2deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_1_tilt=17/17deg(med/p90) eef->bottle_1=15mm(med) grip=431/512 bottle_1->pocket=222/282mm(med/p90) >> 08-14 20:23:39 [gen] step 4040: lag=1/588mm(med/max) ORI=0/1deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_1_tilt=17/17deg(med/p90) eef->bottle_1=15mm(med) grip=489/512 bottle_1->pocket=222/282mm(med/p90) >> 08-14 20:24:40 [gen] step 4080: lag=1/602mm(med/max) ORI=0/1deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_1_tilt=17/18deg(med/p90) eef->bottle_1=15mm(med) grip=487/512 bottle_1->pocket=221/282mm(med/p90) >> 08-14 20:25:42 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=46.2deg (of total-rotation=61.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:42 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=16.2mm minimal-tilt=17.8deg free-spin=4.7deg (accepted) >> 08-14 20:25:43 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=45.2deg (of total-rotation=71.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:43 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=49.0deg (of total-rotation=52.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:43 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=12.4mm minimal-tilt=17.5deg free-spin=15.4deg (accepted) >> 08-14 20:25:46 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=105.1deg (of total-rotation=112.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:47 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=46.6deg (of total-rotation=65.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:47 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=14.9mm minimal-tilt=19.2deg free-spin=41.1deg (accepted) >> 08-14 20:25:48 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=54.1deg (of total-rotation=59.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:48 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=13.3mm minimal-tilt=22.3deg free-spin=6.5deg (accepted) >> 08-14 20:25:49 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=47.3deg (of total-rotation=62.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:49 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=50.5deg (of total-rotation=54.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:50 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=11.7mm minimal-tilt=26.9deg free-spin=37.5deg (accepted) >> 08-14 20:25:51 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=53.5deg (of total-rotation=77.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:51 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=14.6mm minimal-tilt=26.4deg free-spin=12.6deg (accepted) >> 08-14 20:25:52 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=12.9mm minimal-tilt=20.9deg free-spin=16.5deg (accepted) >> 08-14 20:25:53 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=49.5deg (of total-rotation=63.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:54 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=11.7mm minimal-tilt=20.1deg free-spin=0.7deg (accepted) >> 08-14 20:25:54 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=107.8deg (of total-rotation=108.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:54 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=141.7deg (of total-rotation=153.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:55 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=53.0deg (of total-rotation=53.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:56 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=63.8deg (of total-rotation=67.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:56 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=102.8deg (of total-rotation=120.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:56 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=45.7deg (of total-rotation=66.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:57 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=102.3deg (of total-rotation=112.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:57 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=45.8deg (of total-rotation=48.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:58 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=65.7deg (of total-rotation=71.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:59 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=63.5deg (of total-rotation=74.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:59 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=17.3mm minimal-tilt=26.9deg free-spin=7.1deg (accepted) >> 08-14 20:25:59 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=45.6deg (of total-rotation=66.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:25:59 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=15.0mm minimal-tilt=24.2deg free-spin=6.3deg (accepted) >> 08-14 20:25:59 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=13.7mm minimal-tilt=38.4deg free-spin=8.1deg (accepted) >> 08-14 20:26:01 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=57.9deg (of total-rotation=69.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:01 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=15.8mm minimal-tilt=17.7deg free-spin=0.3deg (accepted) >> 08-14 20:26:01 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=101.7deg (of total-rotation=109.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:02 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=47.3deg (of total-rotation=58.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:03 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=104.0deg (of total-rotation=112.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:04 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=92.4deg (of total-rotation=114.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:04 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=33.3mm minimal-tilt=13.2deg free-spin=4.4deg (accepted) >> 08-14 20:26:04 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=81.1deg (of total-rotation=84.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:05 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=65.5deg (of total-rotation=73.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:05 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=55.5deg (of total-rotation=74.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:06 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=53.7deg (of total-rotation=58.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:06 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=52.9deg (of total-rotation=52.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:08 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=68.0deg (of total-rotation=75.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:08 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=14.4mm minimal-tilt=17.5deg free-spin=0.0deg (accepted) >> 08-14 20:26:09 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=77.9deg (of total-rotation=78.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:09 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=106.0deg (of total-rotation=108.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:09 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=15.0mm minimal-tilt=36.5deg free-spin=20.7deg (accepted) >> 08-14 20:26:10 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=63.3deg (of total-rotation=68.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:10 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=50.3deg (of total-rotation=65.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:11 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=45.2deg (of total-rotation=73.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:11 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=13.2mm minimal-tilt=27.6deg free-spin=25.1deg (accepted) >> 08-14 20:26:13 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=16.3mm minimal-tilt=17.9deg free-spin=52.7deg (accepted) >> 08-14 20:26:14 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=46.2deg (of total-rotation=52.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:15 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=61.6deg (of total-rotation=66.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:16 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=53.6deg (of total-rotation=67.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:17 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=45.4deg (of total-rotation=72.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:17 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=70.4deg (of total-rotation=74.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:18 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=15.4mm minimal-tilt=37.9deg free-spin=17.0deg (accepted) >> 08-14 20:26:18 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=62.1deg (of total-rotation=66.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:20 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=84.9deg (of total-rotation=112.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:20 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=51.4deg (of total-rotation=58.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:20 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=114.1deg (of total-rotation=116.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:21 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=103.4deg (of total-rotation=110.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:22 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=67.7deg (of total-rotation=70.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:23 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=66.0deg (of total-rotation=73.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:23 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=15.2mm minimal-tilt=22.5deg free-spin=4.2deg (accepted) >> 08-14 20:26:24 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=47.4deg (of total-rotation=50.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:28 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=107.9deg (of total-rotation=110.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:28 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=45.8deg (of total-rotation=66.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:29 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=45.1deg (of total-rotation=60.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:30 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=58.3deg (of total-rotation=62.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:30 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=51.5deg (of total-rotation=65.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:30 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=17.9mm minimal-tilt=29.6deg free-spin=24.1deg (accepted) >> 08-14 20:26:31 [wpgen/graspdiag] insert_bottle_1: in-hand-offset=12.5mm minimal-tilt=17.5deg free-spin=5.4deg (accepted) >> 08-14 20:26:31 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=64.5deg (of total-rotation=71.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:31 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=48.0deg (of total-rotation=66.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:31 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=51.8deg (of total-rotation=72.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:32 [wpgen/graspdiag] insert_bottle_1: REJECTED minimal-tilt=47.6deg (of total-rotation=55.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry >> 08-14 20:26:46 [gen] step 4120: lag=1/600mm(med/max) ORI=0/1deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_1_tilt=17/20deg(med/p90) eef->bottle_1=15mm(med) grip=487/512 bottle_1->pocket=222/283mm(med/p90) >> 08-14 20:28:07 [gen] step 4160: lag=7/600mm(med/max) ORI=1/3deg(med/p90) j4sat=0.08/-0.00(med/min) bottle_1_tilt=19/26deg(med/p90) eef->bottle_1=16mm(med) grip=455/512 bottle_1->pocket=231/291mm(med/p90) >> 08-14 20:29:34 [gen] step 4200: lag=5/600mm(med/max) ORI=0/5deg(med/p90) j4sat=0.04/-0.00(med/min) bottle_1_tilt=19/33deg(med/p90) eef->bottle_1=16mm(med) grip=447/512 bottle_1->pocket=235/293mm(med/p90) >> 08-14 20:30:48 [gen] step 4240: lag=5/600mm(med/max) ORI=0/4deg(med/p90) j4sat=0.04/-0.00(med/min) bottle_1_tilt=17/38deg(med/p90) eef->bottle_1=16mm(med) grip=447/512 bottle_1->pocket=213/283mm(med/p90) >> 08-14 20:31:46 [gen] step 4280: lag=6/600mm(med/max) ORI=1/3deg(med/p90) j4sat=0.05/-0.00(med/min) bottle_1_tilt=15/33deg(med/p90) eef->bottle_1=16mm(med) grip=447/512 bottle_1->pocket=163/252mm(med/p90) >> 08-14 20:32:49 [gen] step 4320: lag=6/600mm(med/max) ORI=1/1deg(med/p90) j4sat=0.06/-0.00(med/min) bottle_1_tilt=7/27deg(med/p90) eef->bottle_1=16mm(med) grip=447/512 bottle_1->pocket=137/229mm(med/p90) >> 08-14 20:33:48 [gen] step 4360: lag=5/600mm(med/max) ORI=1/1deg(med/p90) j4sat=0.07/-0.00(med/min) bottle_1_tilt=1/26deg(med/p90) eef->bottle_1=16mm(med) grip=447/512 bottle_1->pocket=133/229mm(med/p90) >> 08-14 20:35:00 [gen] step 4400: lag=4/600mm(med/max) ORI=1/1deg(med/p90) j4sat=0.11/-0.00(med/min) bottle_1_tilt=1/26deg(med/p90) eef->bottle_1=16mm(med) grip=447/512 bottle_1->pocket=116/229mm(med/p90) >> 08-14 20:35:58 [gen] step 4440: lag=4/600mm(med/max) ORI=0/1deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_1_tilt=1/26deg(med/p90) eef->bottle_1=16mm(med) grip=447/512 bottle_1->pocket=109/228mm(med/p90) >> 08-14 20:37:03 [gen] step 4480: lag=4/600mm(med/max) ORI=0/1deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_1_tilt=1/26deg(med/p90) eef->bottle_1=16mm(med) grip=447/512 bottle_1->pocket=108/228mm(med/p90) >> 08-14 20:38:12 [gen] step 4520: lag=7/600mm(med/max) ORI=1/2deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_1_tilt=1/33deg(med/p90) eef->bottle_1=16mm(med) grip=446/512 bottle_1->pocket=104/232mm(med/p90) >> 08-14 20:39:12 [gen] step 4560: lag=7/600mm(med/max) ORI=1/2deg(med/p90) j4sat=0.15/-0.00(med/min) bottle_1_tilt=1/33deg(med/p90) eef->bottle_1=16mm(med) grip=446/512 bottle_1->pocket=102/232mm(med/p90) >> 08-14 20:39:18 [wpgen/diag] place_bottle_1: post-phaseB margin-to-placed_z(mm) n=382 med=6.7 p10=3.3 frac_over=4% dist(mm) med=2.6 p90=27.9 >> 08-14 20:39:18 [wpgen/diag] place_bottle_1: PRECISION GATE rejected 164/382 (xy_tol=3.0mm tilt_tol=5.0deg) >> 08-14 20:40:32 [gen] step 4600: lag=12/600mm(med/max) ORI=0/2deg(med/p90) j4sat=0.11/-0.00(med/min) bottle_1_tilt=17/76deg(med/p90) eef->bottle_1=60mm(med) grip=0/512 bottle_1->pocket=100/233mm(med/p90) >> 08-14 20:41:34 [gen] step 4640: lag=6/600mm(med/max) ORI=0/3deg(med/p90) j4sat=0.10/-0.00(med/min) bottle_1_tilt=17/76deg(med/p90) eef->bottle_1=29mm(med) grip=0/512 bottle_1->pocket=101/233mm(med/p90) >> 08-14 20:42:53 [gen] step 4680: lag=14/600mm(med/max) ORI=2/5deg(med/p90) j4sat=0.11/-0.00(med/min) bottle_1_tilt=17/76deg(med/p90) eef->bottle_1=22mm(med) grip=207/512 bottle_1->pocket=101/233mm(med/p90) >> 08-14 20:44:06 [gen] step 4720: lag=9/600mm(med/max) ORI=1/3deg(med/p90) j4sat=0.10/-0.00(med/min) bottle_1_tilt=17/76deg(med/p90) eef->bottle_1=30mm(med) grip=117/512 bottle_1->pocket=101/233mm(med/p90) >> 08-14 20:44:48 [wpgen/press] push_seat_1: peak press force N all med=0.00 max=65.33 CONTACT n=255/512 med=11.17 p90=19.71 max=65.33 (gate 10.00 <= f <= 40.00) >> 08-14 20:44:48 [wpgen/diag] push_seat_1: post-push seat terms n=218 xy_ok=100% (dist med=1.4 p90=1.8mm tol=15) z_ok=100% (z med=21.0 p10=21.0mm seat_z=27) ori_ok=98% >> 08-14 20:45:15 [gen] step 4760: lag=10/600mm(med/max) ORI=0/3deg(med/p90) j4sat=0.09/-0.00(med/min) bottle_1_tilt=17/76deg(med/p90) eef->bottle_1=54mm(med) grip=20/512 bottle_1->pocket=101/233mm(med/p90) >> 08-14 20:56:19 [wpgen/progress] batch 4 (cube b1): 153/512 kept running 458/400 (2048 rollouts) >> 08-14 20:56:19 [wpgen/done] DONE (batched chunks): 458/400 kept in 2048 rollouts (4 batches of 512). success 458 | fail@[place_bottle_2_imprecise 238, push_seat_2 53, grasp_bottle_2 24, place_bottle_2_slip 108, push_seat_3 72, place_bottle_3_slip 216, place_bottle_3_imprecise 84, grasp_bottle_3 14, place_bottle_0_slip 108, grasp_bottle_0 39, push_seat_0 61, place_bottle_0_imprecise 214, place_bottle_1_slip 99, push_seat_1 65, place_bottle_1_imprecise 164, grasp_bottle_1 31] (fail rate 1590/2048 = 78%) >> 08-14 20:56:19 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate] >> 08-14 20:56:19 [wpgen/done] b0->s0: 24 [ 128, 19%] b0->s1: 20 [ 128, 16%] b0->s2: 23 [ 128, 18%] b0->s3: 23 [ 128, 18%] | b0 total 90 >> 08-14 20:56:19 [wpgen/done] b1->s0: 48 [ 128, 38%] b1->s1: 39 [ 128, 30%] b1->s2: 37 [ 128, 29%] b1->s3: 29 [ 128, 23%] | b1 total 153 >> 08-14 20:56:19 [wpgen/done] b2->s0: 23 [ 128, 18%] b2->s1: 29 [ 128, 23%] b2->s2: 22 [ 128, 17%] b2->s3: 15 [ 128, 12%] | b2 total 89 >> 08-14 20:56:19 [wpgen/done] b3->s0: 32 [ 128, 25%] b3->s1: 40 [ 128, 31%] b3->s2: 30 [ 128, 23%] b3->s3: 24 [ 128, 19%] | b3 total 126 >> 08-14 20:56:19 [wpgen/done] per-slot totals: s0= 127 s1= 128 s2= 112 s3= 91 >> 08-14 20:56:19 [wpgen/done] balance: min 15, max 48 per pair (3.2x spread over 16 pairs) <- UNEVEN, the commonest pair dominates training 2026-08-14T18:52:54Z [33,534ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. 2026-08-14T18:52:54Z [33,541ms] [Warning] [omni.graph.core.plugin] OmniGraphSettings::getCudaDeviceOrdinal: unable to get a valid CUDA device id from the renderer. Defaulting to GPU0. 2026-08-14T20:56:21Z [7,440,933ms] [Error] [omni.physx.plugin] CUDA libs are present, but no suitable CUDA GPU was found!