Add audited long_pipeline_delivery RGB-D demonstrations

data/long_pipeline_delivery/atomic_collection_manifest.json

@@ -0,0 +1,186 @@
+{
+  "task": "long_pipeline_delivery",
+  "count": 36,
+  "rows": [
+    {
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+      "status": "complete",
+      "returncode": 0
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+      "status": "complete",
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+    {
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+      "status": "complete",
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+  ]
+}

data/long_pipeline_delivery/audit.json

@@ -0,0 +1,69 @@
+{
+  "files": [
+    {
+      "path": "runs/wrist_rgbd640/long_pipeline_delivery_atomic_canary/seed_00000000/worker_00.h5",
+      "episodes": [
+        {
+          "trajectory": "traj_0",
+          "arms": [
+            "panda-0",
+            "panda-1",
+            "panda-2",
+            "panda-3"
+          ],
+          "steps": 799,
+          "streams": [
+            {
+              "arm": "panda-0",
+              "steps": 799,
+              "depth_dtype": "int16",
+              "depth_storage_unit": "millimeters",
+              "depth_to_meters_scale": 0.001,
+              "depth_finite_fraction": 1.0,
+              "depth_positive_fraction": 1.0,
+              "depth_min_mm": 36.0,
+              "depth_max_mm": 237.0
+            },
+            {
+              "arm": "panda-1",
+              "steps": 799,
+              "depth_dtype": "int16",
+              "depth_storage_unit": "millimeters",
+              "depth_to_meters_scale": 0.001,
+              "depth_finite_fraction": 1.0,
+              "depth_positive_fraction": 1.0,
+              "depth_min_mm": 36.0,
+              "depth_max_mm": 237.0
+            },
+            {
+              "arm": "panda-2",
+              "steps": 799,
+              "depth_dtype": "int16",
+              "depth_storage_unit": "millimeters",
+              "depth_to_meters_scale": 0.001,
+              "depth_finite_fraction": 1.0,
+              "depth_positive_fraction": 1.0,
+              "depth_min_mm": 36.0,
+              "depth_max_mm": 237.0
+            },
+            {
+              "arm": "panda-3",
+              "steps": 799,
+              "depth_dtype": "int16",
+              "depth_storage_unit": "millimeters",
+              "depth_to_meters_scale": 0.001,
+              "depth_finite_fraction": 1.0,
+              "depth_positive_fraction": 1.0,
+              "depth_min_mm": 36.0,
+              "depth_max_mm": 237.0
+            }
+          ]
+        }
+      ]
+    }
+  ],
+  "episodes": 1,
+  "local_streams": 4,
+  "steps": 799,
+  "status": "valid_decentralized_single_camera_rgbd_data"
+}

data/long_pipeline_delivery/quarantine_seed44_hung/seed_00000044/collector.log

@@ -0,0 +1,13 @@
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/__init__.py:2: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  import pkg_resources
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/_vulkan_tricks.py:37: UserWarning: Failed to find Vulkan ICD file. This is probably due to an incorrect or partial installation of the NVIDIA driver. SAPIEN will attempt to provide an ICD file anyway but it may not work.
+  warn(
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+  import pynvml  # type: ignore[import]
+2026-07-25 15:47:20,738 - mani_skill  - WARNING - No initial pose set for actor builder of shoe, setting to default pose q=[1,0,0,0], p=[0,0,0].
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.max_episode_steps to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.max_episode_steps` for environment variables or `env.get_wrapper_attr('max_episode_steps')` that will search the reminding wrappers.
+  logger.warn(
+2026-07-25 15:47:23,455 - mani_skill  - WARNING - mani_skill is not installed with git.
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.agent to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.agent` for environment variables or `env.get_wrapper_attr('agent')` that will search the reminding wrappers.
+  logger.warn(
+PandaArm Control Mode: pd_joint_pos

data/long_pipeline_delivery/quarantine_seed44_hung/seed_00000044/worker_00.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d326e08d1d18c88a8c5cc1d0029d10e32152ec9722665d7d0333e3df4ef2de3
+size 96

data/long_pipeline_delivery/seed_00000000/collector.log

@@ -0,0 +1,14 @@
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/__init__.py:2: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  import pkg_resources
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/_vulkan_tricks.py:37: UserWarning: Failed to find Vulkan ICD file. This is probably due to an incorrect or partial installation of the NVIDIA driver. SAPIEN will attempt to provide an ICD file anyway but it may not work.
+  warn(
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+  import pynvml  # type: ignore[import]
+2026-07-25 14:50:08,504 - mani_skill  - WARNING - No initial pose set for actor builder of shoe, setting to default pose q=[1,0,0,0], p=[0,0,0].
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.max_episode_steps to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.max_episode_steps` for environment variables or `env.get_wrapper_attr('max_episode_steps')` that will search the reminding wrappers.
+  logger.warn(
+2026-07-25 14:50:09,138 - mani_skill  - WARNING - mani_skill is not installed with git.
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.agent to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.agent` for environment variables or `env.get_wrapper_attr('agent')` that will search the reminding wrappers.
+  logger.warn(
+PandaArm Control Mode: pd_joint_pos
+{'task': 'long_pipeline_delivery', 'worker': 0, 'saved': 1, 'target': 1, 'seed': 0, 'success': True, 'steps': 799}

data/long_pipeline_delivery/seed_00000000/manifest.json

@@ -0,0 +1,36 @@
+{
+  "task": "long_pipeline_delivery",
+  "spec": {
+    "env_id": "LongPipelineDelivery-rf",
+    "config": "robofactory/configs/table/long_pipeline_delivery.yaml",
+    "agents": [
+      0,
+      1,
+      2,
+      3
+    ],
+    "group": "four"
+  },
+  "camera": {
+    "mount": "panda_hand",
+    "width": 640,
+    "height": 480,
+    "observation_mode": "rgbd",
+    "depth_storage_unit": "millimeters"
+  },
+  "reports": [
+    {
+      "worker": 0,
+      "h5": "/workspace/RoboFactory/runs/wrist_rgbd640/long_pipeline_delivery_atomic_canary/seed_00000000/worker_00.h5",
+      "successes": 1,
+      "attempts": 1,
+      "records": [
+        {
+          "seed": 0,
+          "success": true,
+          "steps": 799
+        }
+      ]
+    }
+  ]
+}

data/long_pipeline_delivery/seed_00000000/worker_00.h5

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+version https://git-lfs.github.com/spec/v1
+oid sha256:629f62d395cf981cc5181f5155eea1dbbd4dc31070cb215c6ab78951f9b85db1
+size 276782687

data/long_pipeline_delivery/seed_00000000/worker_00.json

@@ -0,0 +1,44 @@
+{
+  "env_info": {
+    "env_id": "LongPipelineDelivery-rf",
+    "env_kwargs": {
+      "config": "/workspace/RoboFactory/robofactory/configs/table/long_pipeline_delivery.yaml",
+      "obs_mode": "rgbd",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "sensors",
+      "reward_mode": "dense",
+      "sim_backend": "cpu",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      }
+    },
+    "max_episode_steps": 1500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 0,
+      "control_mode": {
+        "panda-0": "pd_joint_pos",
+        "panda-1": "pd_joint_pos",
+        "panda-2": "pd_joint_pos",
+        "panda-3": "pd_joint_pos"
+      },
+      "elapsed_steps": 799,
+      "reset_kwargs": {
+        "options": {},
+        "seed": 0
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "long_pipeline_delivery; local RGB cameras mounted on matching panda_hand links"
+}

data/long_pipeline_delivery/seed_00000001/collector.log

@@ -0,0 +1,14 @@
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/__init__.py:2: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  import pkg_resources
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/_vulkan_tricks.py:37: UserWarning: Failed to find Vulkan ICD file. This is probably due to an incorrect or partial installation of the NVIDIA driver. SAPIEN will attempt to provide an ICD file anyway but it may not work.
+  warn(
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+  import pynvml  # type: ignore[import]
+2026-07-25 15:16:11,907 - mani_skill  - WARNING - No initial pose set for actor builder of shoe, setting to default pose q=[1,0,0,0], p=[0,0,0].
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.max_episode_steps to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.max_episode_steps` for environment variables or `env.get_wrapper_attr('max_episode_steps')` that will search the reminding wrappers.
+  logger.warn(
+2026-07-25 15:16:17,604 - mani_skill  - WARNING - mani_skill is not installed with git.
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.agent to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.agent` for environment variables or `env.get_wrapper_attr('agent')` that will search the reminding wrappers.
+  logger.warn(
+PandaArm Control Mode: pd_joint_pos
+{'task': 'long_pipeline_delivery', 'worker': 0, 'saved': 1, 'target': 1, 'seed': 1, 'success': True, 'steps': 822}

data/long_pipeline_delivery/seed_00000001/manifest.json

@@ -0,0 +1,36 @@
+{
+  "task": "long_pipeline_delivery",
+  "spec": {
+    "env_id": "LongPipelineDelivery-rf",
+    "config": "robofactory/configs/table/long_pipeline_delivery.yaml",
+    "agents": [
+      0,
+      1,
+      2,
+      3
+    ],
+    "group": "four"
+  },
+  "camera": {
+    "mount": "panda_hand",
+    "width": 640,
+    "height": 480,
+    "observation_mode": "rgbd",
+    "depth_storage_unit": "millimeters"
+  },
+  "reports": [
+    {
+      "worker": 0,
+      "h5": "/workspace/RoboFactory/runs/wrist_rgbd640/long_pipeline_delivery_atomic_canary/seed_00000001/worker_00.h5",
+      "successes": 1,
+      "attempts": 1,
+      "records": [
+        {
+          "seed": 1,
+          "success": true,
+          "steps": 822
+        }
+      ]
+    }
+  ]
+}

data/long_pipeline_delivery/seed_00000001/worker_00.h5

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c68ee994ca5a0284582dbd44db4ba10a530d00d51697e63c5ab61f3850411d59
+size 277302109

data/long_pipeline_delivery/seed_00000001/worker_00.json

@@ -0,0 +1,44 @@
+{
+  "env_info": {
+    "env_id": "LongPipelineDelivery-rf",
+    "env_kwargs": {
+      "config": "/workspace/RoboFactory/robofactory/configs/table/long_pipeline_delivery.yaml",
+      "obs_mode": "rgbd",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "sensors",
+      "reward_mode": "dense",
+      "sim_backend": "cpu",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      }
+    },
+    "max_episode_steps": 1500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 1,
+      "control_mode": {
+        "panda-0": "pd_joint_pos",
+        "panda-1": "pd_joint_pos",
+        "panda-2": "pd_joint_pos",
+        "panda-3": "pd_joint_pos"
+      },
+      "elapsed_steps": 822,
+      "reset_kwargs": {
+        "options": {},
+        "seed": 1
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "long_pipeline_delivery; local RGB cameras mounted on matching panda_hand links"
+}

data/long_pipeline_delivery/seed_00000002/collector.log

@@ -0,0 +1,14 @@
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/__init__.py:2: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  import pkg_resources
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/_vulkan_tricks.py:37: UserWarning: Failed to find Vulkan ICD file. This is probably due to an incorrect or partial installation of the NVIDIA driver. SAPIEN will attempt to provide an ICD file anyway but it may not work.
+  warn(
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+  import pynvml  # type: ignore[import]
+2026-07-25 15:47:22,566 - mani_skill  - WARNING - No initial pose set for actor builder of shoe, setting to default pose q=[1,0,0,0], p=[0,0,0].
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.max_episode_steps to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.max_episode_steps` for environment variables or `env.get_wrapper_attr('max_episode_steps')` that will search the reminding wrappers.
+  logger.warn(
+2026-07-25 15:47:25,575 - mani_skill  - WARNING - mani_skill is not installed with git.
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.agent to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.agent` for environment variables or `env.get_wrapper_attr('agent')` that will search the reminding wrappers.
+  logger.warn(
+PandaArm Control Mode: pd_joint_pos
+{'task': 'long_pipeline_delivery', 'worker': 0, 'saved': 1, 'target': 1, 'seed': 2, 'success': True, 'steps': 816}

data/long_pipeline_delivery/seed_00000002/manifest.json

@@ -0,0 +1,36 @@
+{
+  "task": "long_pipeline_delivery",
+  "spec": {
+    "env_id": "LongPipelineDelivery-rf",
+    "config": "robofactory/configs/table/long_pipeline_delivery.yaml",
+    "agents": [
+      0,
+      1,
+      2,
+      3
+    ],
+    "group": "four"
+  },
+  "camera": {
+    "mount": "panda_hand",
+    "width": 640,
+    "height": 480,
+    "observation_mode": "rgbd",
+    "depth_storage_unit": "millimeters"
+  },
+  "reports": [
+    {
+      "worker": 0,
+      "h5": "/workspace/RoboFactory/runs/wrist_rgbd640/long_pipeline_delivery_atomic_canary/seed_00000002/worker_00.h5",
+      "successes": 1,
+      "attempts": 1,
+      "records": [
+        {
+          "seed": 2,
+          "success": true,
+          "steps": 816
+        }
+      ]
+    }
+  ]
+}

data/long_pipeline_delivery/seed_00000002/worker_00.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 293335821

data/long_pipeline_delivery/seed_00000002/worker_00.json

@@ -0,0 +1,44 @@
+{
+  "env_info": {
+    "env_id": "LongPipelineDelivery-rf",
+    "env_kwargs": {
+      "config": "/workspace/RoboFactory/robofactory/configs/table/long_pipeline_delivery.yaml",
+      "obs_mode": "rgbd",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "sensors",
+      "reward_mode": "dense",
+      "sim_backend": "cpu",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      }
+    },
+    "max_episode_steps": 1500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 2,
+      "control_mode": {
+        "panda-0": "pd_joint_pos",
+        "panda-1": "pd_joint_pos",
+        "panda-2": "pd_joint_pos",
+        "panda-3": "pd_joint_pos"
+      },
+      "elapsed_steps": 816,
+      "reset_kwargs": {
+        "options": {},
+        "seed": 2
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "long_pipeline_delivery; local RGB cameras mounted on matching panda_hand links"
+}

data/long_pipeline_delivery/seed_00000003/collector.log

@@ -0,0 +1,14 @@
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/__init__.py:2: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  import pkg_resources
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/_vulkan_tricks.py:37: UserWarning: Failed to find Vulkan ICD file. This is probably due to an incorrect or partial installation of the NVIDIA driver. SAPIEN will attempt to provide an ICD file anyway but it may not work.
+  warn(
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+  import pynvml  # type: ignore[import]
+2026-07-25 15:16:21,692 - mani_skill  - WARNING - No initial pose set for actor builder of shoe, setting to default pose q=[1,0,0,0], p=[0,0,0].
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.max_episode_steps to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.max_episode_steps` for environment variables or `env.get_wrapper_attr('max_episode_steps')` that will search the reminding wrappers.
+  logger.warn(
+2026-07-25 15:16:29,803 - mani_skill  - WARNING - mani_skill is not installed with git.
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.agent to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.agent` for environment variables or `env.get_wrapper_attr('agent')` that will search the reminding wrappers.
+  logger.warn(
+PandaArm Control Mode: pd_joint_pos
+{'task': 'long_pipeline_delivery', 'worker': 0, 'saved': 1, 'target': 1, 'seed': 3, 'success': True, 'steps': 840}

data/long_pipeline_delivery/seed_00000003/manifest.json

@@ -0,0 +1,36 @@
+{
+  "task": "long_pipeline_delivery",
+  "spec": {
+    "env_id": "LongPipelineDelivery-rf",
+    "config": "robofactory/configs/table/long_pipeline_delivery.yaml",
+    "agents": [
+      0,
+      1,
+      2,
+      3
+    ],
+    "group": "four"
+  },
+  "camera": {
+    "mount": "panda_hand",
+    "width": 640,
+    "height": 480,
+    "observation_mode": "rgbd",
+    "depth_storage_unit": "millimeters"
+  },
+  "reports": [
+    {
+      "worker": 0,
+      "h5": "/workspace/RoboFactory/runs/wrist_rgbd640/long_pipeline_delivery_atomic_canary/seed_00000003/worker_00.h5",
+      "successes": 1,
+      "attempts": 1,
+      "records": [
+        {
+          "seed": 3,
+          "success": true,
+          "steps": 840
+        }
+      ]
+    }
+  ]
+}

data/long_pipeline_delivery/seed_00000003/worker_00.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64095ecf3991d08330b220881b732cb3bd9507c353cea95293b572e701fe6a2d
+size 293940592

data/long_pipeline_delivery/seed_00000003/worker_00.json

@@ -0,0 +1,44 @@
+{
+  "env_info": {
+    "env_id": "LongPipelineDelivery-rf",
+    "env_kwargs": {
+      "config": "/workspace/RoboFactory/robofactory/configs/table/long_pipeline_delivery.yaml",
+      "obs_mode": "rgbd",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "sensors",
+      "reward_mode": "dense",
+      "sim_backend": "cpu",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      }
+    },
+    "max_episode_steps": 1500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 3,
+      "control_mode": {
+        "panda-0": "pd_joint_pos",
+        "panda-1": "pd_joint_pos",
+        "panda-2": "pd_joint_pos",
+        "panda-3": "pd_joint_pos"
+      },
+      "elapsed_steps": 840,
+      "reset_kwargs": {
+        "options": {},
+        "seed": 3
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "long_pipeline_delivery; local RGB cameras mounted on matching panda_hand links"
+}

data/long_pipeline_delivery/seed_00000004/collector.log

@@ -0,0 +1,14 @@
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/__init__.py:2: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  import pkg_resources
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/_vulkan_tricks.py:37: UserWarning: Failed to find Vulkan ICD file. This is probably due to an incorrect or partial installation of the NVIDIA driver. SAPIEN will attempt to provide an ICD file anyway but it may not work.
+  warn(
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+  import pynvml  # type: ignore[import]
+2026-07-25 15:16:08,357 - mani_skill  - WARNING - No initial pose set for actor builder of shoe, setting to default pose q=[1,0,0,0], p=[0,0,0].
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.max_episode_steps to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.max_episode_steps` for environment variables or `env.get_wrapper_attr('max_episode_steps')` that will search the reminding wrappers.
+  logger.warn(
+2026-07-25 15:16:11,944 - mani_skill  - WARNING - mani_skill is not installed with git.
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.agent to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.agent` for environment variables or `env.get_wrapper_attr('agent')` that will search the reminding wrappers.
+  logger.warn(
+PandaArm Control Mode: pd_joint_pos
+{'task': 'long_pipeline_delivery', 'worker': 0, 'saved': 1, 'target': 1, 'seed': 4, 'success': True, 'steps': 797}

data/long_pipeline_delivery/seed_00000004/manifest.json

@@ -0,0 +1,36 @@
+{
+  "task": "long_pipeline_delivery",
+  "spec": {
+    "env_id": "LongPipelineDelivery-rf",
+    "config": "robofactory/configs/table/long_pipeline_delivery.yaml",
+    "agents": [
+      0,
+      1,
+      2,
+      3
+    ],
+    "group": "four"
+  },
+  "camera": {
+    "mount": "panda_hand",
+    "width": 640,
+    "height": 480,
+    "observation_mode": "rgbd",
+    "depth_storage_unit": "millimeters"
+  },
+  "reports": [
+    {
+      "worker": 0,
+      "h5": "/workspace/RoboFactory/runs/wrist_rgbd640/long_pipeline_delivery_atomic_canary/seed_00000004/worker_00.h5",
+      "successes": 1,
+      "attempts": 1,
+      "records": [
+        {
+          "seed": 4,
+          "success": true,
+          "steps": 797
+        }
+      ]
+    }
+  ]
+}

data/long_pipeline_delivery/seed_00000004/worker_00.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:511ecef1bf505c484f4f85c93f2989b99aa74f3dac742021156c117b54b4a980
+size 278786498

data/long_pipeline_delivery/seed_00000004/worker_00.json

@@ -0,0 +1,44 @@
+{
+  "env_info": {
+    "env_id": "LongPipelineDelivery-rf",
+    "env_kwargs": {
+      "config": "/workspace/RoboFactory/robofactory/configs/table/long_pipeline_delivery.yaml",
+      "obs_mode": "rgbd",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "sensors",
+      "reward_mode": "dense",
+      "sim_backend": "cpu",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      }
+    },
+    "max_episode_steps": 1500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 4,
+      "control_mode": {
+        "panda-0": "pd_joint_pos",
+        "panda-1": "pd_joint_pos",
+        "panda-2": "pd_joint_pos",
+        "panda-3": "pd_joint_pos"
+      },
+      "elapsed_steps": 797,
+      "reset_kwargs": {
+        "options": {},
+        "seed": 4
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "long_pipeline_delivery; local RGB cameras mounted on matching panda_hand links"
+}

data/long_pipeline_delivery/seed_00000005/collector.log

@@ -0,0 +1,14 @@
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/__init__.py:2: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  import pkg_resources
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/_vulkan_tricks.py:37: UserWarning: Failed to find Vulkan ICD file. This is probably due to an incorrect or partial installation of the NVIDIA driver. SAPIEN will attempt to provide an ICD file anyway but it may not work.
+  warn(
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+  import pynvml  # type: ignore[import]
+2026-07-25 15:16:20,639 - mani_skill  - WARNING - No initial pose set for actor builder of shoe, setting to default pose q=[1,0,0,0], p=[0,0,0].
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.max_episode_steps to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.max_episode_steps` for environment variables or `env.get_wrapper_attr('max_episode_steps')` that will search the reminding wrappers.
+  logger.warn(
+2026-07-25 15:16:27,768 - mani_skill  - WARNING - mani_skill is not installed with git.
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.agent to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.agent` for environment variables or `env.get_wrapper_attr('agent')` that will search the reminding wrappers.
+  logger.warn(
+PandaArm Control Mode: pd_joint_pos
+{'task': 'long_pipeline_delivery', 'worker': 0, 'saved': 1, 'target': 1, 'seed': 5, 'success': True, 'steps': 796}

data/long_pipeline_delivery/seed_00000005/manifest.json

@@ -0,0 +1,36 @@
+{
+  "task": "long_pipeline_delivery",
+  "spec": {
+    "env_id": "LongPipelineDelivery-rf",
+    "config": "robofactory/configs/table/long_pipeline_delivery.yaml",
+    "agents": [
+      0,
+      1,
+      2,
+      3
+    ],
+    "group": "four"
+  },
+  "camera": {
+    "mount": "panda_hand",
+    "width": 640,
+    "height": 480,
+    "observation_mode": "rgbd",
+    "depth_storage_unit": "millimeters"
+  },
+  "reports": [
+    {
+      "worker": 0,
+      "h5": "/workspace/RoboFactory/runs/wrist_rgbd640/long_pipeline_delivery_atomic_canary/seed_00000005/worker_00.h5",
+      "successes": 1,
+      "attempts": 1,
+      "records": [
+        {
+          "seed": 5,
+          "success": true,
+          "steps": 796
+        }
+      ]
+    }
+  ]
+}

data/long_pipeline_delivery/seed_00000005/worker_00.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eeb5fdbfbde0777d9d2c6f76181aeb0bb5197984e5ff0849c06ff1792a46843a
+size 281229319

data/long_pipeline_delivery/seed_00000005/worker_00.json

@@ -0,0 +1,44 @@
+{
+  "env_info": {
+    "env_id": "LongPipelineDelivery-rf",
+    "env_kwargs": {
+      "config": "/workspace/RoboFactory/robofactory/configs/table/long_pipeline_delivery.yaml",
+      "obs_mode": "rgbd",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "sensors",
+      "reward_mode": "dense",
+      "sim_backend": "cpu",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      }
+    },
+    "max_episode_steps": 1500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 5,
+      "control_mode": {
+        "panda-0": "pd_joint_pos",
+        "panda-1": "pd_joint_pos",
+        "panda-2": "pd_joint_pos",
+        "panda-3": "pd_joint_pos"
+      },
+      "elapsed_steps": 796,
+      "reset_kwargs": {
+        "options": {},
+        "seed": 5
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "long_pipeline_delivery; local RGB cameras mounted on matching panda_hand links"
+}

data/long_pipeline_delivery/seed_00000006/collector.log

@@ -0,0 +1,14 @@
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/__init__.py:2: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  import pkg_resources
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/_vulkan_tricks.py:37: UserWarning: Failed to find Vulkan ICD file. This is probably due to an incorrect or partial installation of the NVIDIA driver. SAPIEN will attempt to provide an ICD file anyway but it may not work.
+  warn(
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+  import pynvml  # type: ignore[import]
+2026-07-25 15:16:16,910 - mani_skill  - WARNING - No initial pose set for actor builder of shoe, setting to default pose q=[1,0,0,0], p=[0,0,0].
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.max_episode_steps to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.max_episode_steps` for environment variables or `env.get_wrapper_attr('max_episode_steps')` that will search the reminding wrappers.
+  logger.warn(
+2026-07-25 15:16:23,031 - mani_skill  - WARNING - mani_skill is not installed with git.
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.agent to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.agent` for environment variables or `env.get_wrapper_attr('agent')` that will search the reminding wrappers.
+  logger.warn(
+PandaArm Control Mode: pd_joint_pos
+{'task': 'long_pipeline_delivery', 'worker': 0, 'saved': 1, 'target': 1, 'seed': 6, 'success': True, 'steps': 797}

data/long_pipeline_delivery/seed_00000006/manifest.json

@@ -0,0 +1,36 @@
+{
+  "task": "long_pipeline_delivery",
+  "spec": {
+    "env_id": "LongPipelineDelivery-rf",
+    "config": "robofactory/configs/table/long_pipeline_delivery.yaml",
+    "agents": [
+      0,
+      1,
+      2,
+      3
+    ],
+    "group": "four"
+  },
+  "camera": {
+    "mount": "panda_hand",
+    "width": 640,
+    "height": 480,
+    "observation_mode": "rgbd",
+    "depth_storage_unit": "millimeters"
+  },
+  "reports": [
+    {
+      "worker": 0,
+      "h5": "/workspace/RoboFactory/runs/wrist_rgbd640/long_pipeline_delivery_atomic_canary/seed_00000006/worker_00.h5",
+      "successes": 1,
+      "attempts": 1,
+      "records": [
+        {
+          "seed": 6,
+          "success": true,
+          "steps": 797
+        }
+      ]
+    }
+  ]
+}

data/long_pipeline_delivery/seed_00000006/worker_00.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a4e982e994e8b36fa5ed1a7e43111b541a106fc3abe3553f22f431e6f2136d6
+size 279452151

data/long_pipeline_delivery/seed_00000006/worker_00.json

@@ -0,0 +1,44 @@
+{
+  "env_info": {
+    "env_id": "LongPipelineDelivery-rf",
+    "env_kwargs": {
+      "config": "/workspace/RoboFactory/robofactory/configs/table/long_pipeline_delivery.yaml",
+      "obs_mode": "rgbd",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "sensors",
+      "reward_mode": "dense",
+      "sim_backend": "cpu",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      }
+    },
+    "max_episode_steps": 1500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 6,
+      "control_mode": {
+        "panda-0": "pd_joint_pos",
+        "panda-1": "pd_joint_pos",
+        "panda-2": "pd_joint_pos",
+        "panda-3": "pd_joint_pos"
+      },
+      "elapsed_steps": 797,
+      "reset_kwargs": {
+        "options": {},
+        "seed": 6
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "long_pipeline_delivery; local RGB cameras mounted on matching panda_hand links"
+}

data/long_pipeline_delivery/seed_00000007/collector.log

@@ -0,0 +1,14 @@
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/__init__.py:2: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  import pkg_resources
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/_vulkan_tricks.py:37: UserWarning: Failed to find Vulkan ICD file. This is probably due to an incorrect or partial installation of the NVIDIA driver. SAPIEN will attempt to provide an ICD file anyway but it may not work.
+  warn(
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+  import pynvml  # type: ignore[import]
+2026-07-25 15:16:20,746 - mani_skill  - WARNING - No initial pose set for actor builder of shoe, setting to default pose q=[1,0,0,0], p=[0,0,0].
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.max_episode_steps to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.max_episode_steps` for environment variables or `env.get_wrapper_attr('max_episode_steps')` that will search the reminding wrappers.
+  logger.warn(
+2026-07-25 15:16:27,521 - mani_skill  - WARNING - mani_skill is not installed with git.
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.agent to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.agent` for environment variables or `env.get_wrapper_attr('agent')` that will search the reminding wrappers.
+  logger.warn(
+PandaArm Control Mode: pd_joint_pos
+{'task': 'long_pipeline_delivery', 'worker': 0, 'saved': 1, 'target': 1, 'seed': 7, 'success': True, 'steps': 834}

data/long_pipeline_delivery/seed_00000007/manifest.json

@@ -0,0 +1,36 @@
+{
+  "task": "long_pipeline_delivery",
+  "spec": {
+    "env_id": "LongPipelineDelivery-rf",
+    "config": "robofactory/configs/table/long_pipeline_delivery.yaml",
+    "agents": [
+      0,
+      1,
+      2,
+      3
+    ],
+    "group": "four"
+  },
+  "camera": {
+    "mount": "panda_hand",
+    "width": 640,
+    "height": 480,
+    "observation_mode": "rgbd",
+    "depth_storage_unit": "millimeters"
+  },
+  "reports": [
+    {
+      "worker": 0,
+      "h5": "/workspace/RoboFactory/runs/wrist_rgbd640/long_pipeline_delivery_atomic_canary/seed_00000007/worker_00.h5",
+      "successes": 1,
+      "attempts": 1,
+      "records": [
+        {
+          "seed": 7,
+          "success": true,
+          "steps": 834
+        }
+      ]
+    }
+  ]
+}

data/long_pipeline_delivery/seed_00000007/worker_00.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57de0818adae08310d84bb5b9b6198fe0db332923ad249ea6cc516d9194abf3e
+size 298235146

data/long_pipeline_delivery/seed_00000007/worker_00.json

@@ -0,0 +1,44 @@
+{
+  "env_info": {
+    "env_id": "LongPipelineDelivery-rf",
+    "env_kwargs": {
+      "config": "/workspace/RoboFactory/robofactory/configs/table/long_pipeline_delivery.yaml",
+      "obs_mode": "rgbd",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "sensors",
+      "reward_mode": "dense",
+      "sim_backend": "cpu",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      }
+    },
+    "max_episode_steps": 1500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 7,
+      "control_mode": {
+        "panda-0": "pd_joint_pos",
+        "panda-1": "pd_joint_pos",
+        "panda-2": "pd_joint_pos",
+        "panda-3": "pd_joint_pos"
+      },
+      "elapsed_steps": 834,
+      "reset_kwargs": {
+        "options": {},
+        "seed": 7
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "long_pipeline_delivery; local RGB cameras mounted on matching panda_hand links"
+}

data/long_pipeline_delivery/seed_00000008/collector.log

@@ -0,0 +1,14 @@
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/__init__.py:2: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  import pkg_resources
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/_vulkan_tricks.py:37: UserWarning: Failed to find Vulkan ICD file. This is probably due to an incorrect or partial installation of the NVIDIA driver. SAPIEN will attempt to provide an ICD file anyway but it may not work.
+  warn(
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+  import pynvml  # type: ignore[import]
+2026-07-25 15:16:22,066 - mani_skill  - WARNING - No initial pose set for actor builder of shoe, setting to default pose q=[1,0,0,0], p=[0,0,0].
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.max_episode_steps to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.max_episode_steps` for environment variables or `env.get_wrapper_attr('max_episode_steps')` that will search the reminding wrappers.
+  logger.warn(
+2026-07-25 15:16:30,056 - mani_skill  - WARNING - mani_skill is not installed with git.
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.agent to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.agent` for environment variables or `env.get_wrapper_attr('agent')` that will search the reminding wrappers.
+  logger.warn(
+PandaArm Control Mode: pd_joint_pos
+{'task': 'long_pipeline_delivery', 'worker': 0, 'saved': 1, 'target': 1, 'seed': 8, 'success': True, 'steps': 809}

data/long_pipeline_delivery/seed_00000008/manifest.json

@@ -0,0 +1,36 @@
+{
+  "task": "long_pipeline_delivery",
+  "spec": {
+    "env_id": "LongPipelineDelivery-rf",
+    "config": "robofactory/configs/table/long_pipeline_delivery.yaml",
+    "agents": [
+      0,
+      1,
+      2,
+      3
+    ],
+    "group": "four"
+  },
+  "camera": {
+    "mount": "panda_hand",
+    "width": 640,
+    "height": 480,
+    "observation_mode": "rgbd",
+    "depth_storage_unit": "millimeters"
+  },
+  "reports": [
+    {
+      "worker": 0,
+      "h5": "/workspace/RoboFactory/runs/wrist_rgbd640/long_pipeline_delivery_atomic_canary/seed_00000008/worker_00.h5",
+      "successes": 1,
+      "attempts": 1,
+      "records": [
+        {
+          "seed": 8,
+          "success": true,
+          "steps": 809
+        }
+      ]
+    }
+  ]
+}

data/long_pipeline_delivery/seed_00000008/worker_00.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19f1ab4c79d90c3716ebe567bf866e964cfc4f19c95b94985d0f8ff235db9bf4
+size 277483362

data/long_pipeline_delivery/seed_00000008/worker_00.json

@@ -0,0 +1,44 @@
+{
+  "env_info": {
+    "env_id": "LongPipelineDelivery-rf",
+    "env_kwargs": {
+      "config": "/workspace/RoboFactory/robofactory/configs/table/long_pipeline_delivery.yaml",
+      "obs_mode": "rgbd",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "sensors",
+      "reward_mode": "dense",
+      "sim_backend": "cpu",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      }
+    },
+    "max_episode_steps": 1500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 8,
+      "control_mode": {
+        "panda-0": "pd_joint_pos",
+        "panda-1": "pd_joint_pos",
+        "panda-2": "pd_joint_pos",
+        "panda-3": "pd_joint_pos"
+      },
+      "elapsed_steps": 809,
+      "reset_kwargs": {
+        "options": {},
+        "seed": 8
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "long_pipeline_delivery; local RGB cameras mounted on matching panda_hand links"
+}

data/long_pipeline_delivery/seed_00000009/collector.log

@@ -0,0 +1,14 @@
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/__init__.py:2: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  import pkg_resources
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/_vulkan_tricks.py:37: UserWarning: Failed to find Vulkan ICD file. This is probably due to an incorrect or partial installation of the NVIDIA driver. SAPIEN will attempt to provide an ICD file anyway but it may not work.
+  warn(
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+  import pynvml  # type: ignore[import]
+2026-07-25 15:16:19,534 - mani_skill  - WARNING - No initial pose set for actor builder of shoe, setting to default pose q=[1,0,0,0], p=[0,0,0].
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.max_episode_steps to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.max_episode_steps` for environment variables or `env.get_wrapper_attr('max_episode_steps')` that will search the reminding wrappers.
+  logger.warn(
+2026-07-25 15:16:26,321 - mani_skill  - WARNING - mani_skill is not installed with git.
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.agent to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.agent` for environment variables or `env.get_wrapper_attr('agent')` that will search the reminding wrappers.
+  logger.warn(
+PandaArm Control Mode: pd_joint_pos
+{'task': 'long_pipeline_delivery', 'worker': 0, 'saved': 1, 'target': 1, 'seed': 9, 'success': True, 'steps': 796}

data/long_pipeline_delivery/seed_00000009/manifest.json

@@ -0,0 +1,36 @@
+{
+  "task": "long_pipeline_delivery",
+  "spec": {
+    "env_id": "LongPipelineDelivery-rf",
+    "config": "robofactory/configs/table/long_pipeline_delivery.yaml",
+    "agents": [
+      0,
+      1,
+      2,
+      3
+    ],
+    "group": "four"
+  },
+  "camera": {
+    "mount": "panda_hand",
+    "width": 640,
+    "height": 480,
+    "observation_mode": "rgbd",
+    "depth_storage_unit": "millimeters"
+  },
+  "reports": [
+    {
+      "worker": 0,
+      "h5": "/workspace/RoboFactory/runs/wrist_rgbd640/long_pipeline_delivery_atomic_canary/seed_00000009/worker_00.h5",
+      "successes": 1,
+      "attempts": 1,
+      "records": [
+        {
+          "seed": 9,
+          "success": true,
+          "steps": 796
+        }
+      ]
+    }
+  ]
+}

data/long_pipeline_delivery/seed_00000009/worker_00.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b962fb698eb9040bdba3626695055b08ae0c1a36d1147b16f6e3b49758eba3f
+size 274965639

data/long_pipeline_delivery/seed_00000009/worker_00.json

@@ -0,0 +1,44 @@
+{
+  "env_info": {
+    "env_id": "LongPipelineDelivery-rf",
+    "env_kwargs": {
+      "config": "/workspace/RoboFactory/robofactory/configs/table/long_pipeline_delivery.yaml",
+      "obs_mode": "rgbd",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "sensors",
+      "reward_mode": "dense",
+      "sim_backend": "cpu",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      }
+    },
+    "max_episode_steps": 1500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 9,
+      "control_mode": {
+        "panda-0": "pd_joint_pos",
+        "panda-1": "pd_joint_pos",
+        "panda-2": "pd_joint_pos",
+        "panda-3": "pd_joint_pos"
+      },
+      "elapsed_steps": 796,
+      "reset_kwargs": {
+        "options": {},
+        "seed": 9
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "long_pipeline_delivery; local RGB cameras mounted on matching panda_hand links"
+}

data/long_pipeline_delivery/seed_00000010/collector.log

@@ -0,0 +1,14 @@
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/__init__.py:2: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  import pkg_resources
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/_vulkan_tricks.py:37: UserWarning: Failed to find Vulkan ICD file. This is probably due to an incorrect or partial installation of the NVIDIA driver. SAPIEN will attempt to provide an ICD file anyway but it may not work.
+  warn(
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+  import pynvml  # type: ignore[import]
+2026-07-25 15:16:16,095 - mani_skill  - WARNING - No initial pose set for actor builder of shoe, setting to default pose q=[1,0,0,0], p=[0,0,0].
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.max_episode_steps to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.max_episode_steps` for environment variables or `env.get_wrapper_attr('max_episode_steps')` that will search the reminding wrappers.
+  logger.warn(
+2026-07-25 15:16:22,381 - mani_skill  - WARNING - mani_skill is not installed with git.
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.agent to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.agent` for environment variables or `env.get_wrapper_attr('agent')` that will search the reminding wrappers.
+  logger.warn(
+PandaArm Control Mode: pd_joint_pos
+{'task': 'long_pipeline_delivery', 'worker': 0, 'saved': 1, 'target': 1, 'seed': 10, 'success': True, 'steps': 812}

data/long_pipeline_delivery/seed_00000010/manifest.json

@@ -0,0 +1,36 @@
+{
+  "task": "long_pipeline_delivery",
+  "spec": {
+    "env_id": "LongPipelineDelivery-rf",
+    "config": "robofactory/configs/table/long_pipeline_delivery.yaml",
+    "agents": [
+      0,
+      1,
+      2,
+      3
+    ],
+    "group": "four"
+  },
+  "camera": {
+    "mount": "panda_hand",
+    "width": 640,
+    "height": 480,
+    "observation_mode": "rgbd",
+    "depth_storage_unit": "millimeters"
+  },
+  "reports": [
+    {
+      "worker": 0,
+      "h5": "/workspace/RoboFactory/runs/wrist_rgbd640/long_pipeline_delivery_atomic_canary/seed_00000010/worker_00.h5",
+      "successes": 1,
+      "attempts": 1,
+      "records": [
+        {
+          "seed": 10,
+          "success": true,
+          "steps": 812
+        }
+      ]
+    }
+  ]
+}

data/long_pipeline_delivery/seed_00000010/worker_00.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a6f49769e1838b205ff06fef860625babc7126bafa8457338c4d16d6ca6f04b
+size 285325746

data/long_pipeline_delivery/seed_00000010/worker_00.json

@@ -0,0 +1,44 @@
+{
+  "env_info": {
+    "env_id": "LongPipelineDelivery-rf",
+    "env_kwargs": {
+      "config": "/workspace/RoboFactory/robofactory/configs/table/long_pipeline_delivery.yaml",
+      "obs_mode": "rgbd",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "sensors",
+      "reward_mode": "dense",
+      "sim_backend": "cpu",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      }
+    },
+    "max_episode_steps": 1500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 10,
+      "control_mode": {
+        "panda-0": "pd_joint_pos",
+        "panda-1": "pd_joint_pos",
+        "panda-2": "pd_joint_pos",
+        "panda-3": "pd_joint_pos"
+      },
+      "elapsed_steps": 812,
+      "reset_kwargs": {
+        "options": {},
+        "seed": 10
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "long_pipeline_delivery; local RGB cameras mounted on matching panda_hand links"
+}

data/long_pipeline_delivery/seed_00000011/collector.log

@@ -0,0 +1,14 @@
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/__init__.py:2: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  import pkg_resources
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/sapien/_vulkan_tricks.py:37: UserWarning: Failed to find Vulkan ICD file. This is probably due to an incorrect or partial installation of the NVIDIA driver. SAPIEN will attempt to provide an ICD file anyway but it may not work.
+  warn(
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+  import pynvml  # type: ignore[import]
+2026-07-25 15:16:20,070 - mani_skill  - WARNING - No initial pose set for actor builder of shoe, setting to default pose q=[1,0,0,0], p=[0,0,0].
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.max_episode_steps to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.max_episode_steps` for environment variables or `env.get_wrapper_attr('max_episode_steps')` that will search the reminding wrappers.
+  logger.warn(
+2026-07-25 15:16:26,404 - mani_skill  - WARNING - mani_skill is not installed with git.
+/workspace/venvs/robofactory-act/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.agent to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.agent` for environment variables or `env.get_wrapper_attr('agent')` that will search the reminding wrappers.
+  logger.warn(
+PandaArm Control Mode: pd_joint_pos
+{'task': 'long_pipeline_delivery', 'worker': 0, 'saved': 1, 'target': 1, 'seed': 11, 'success': True, 'steps': 794}