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'agent.encoder.ContextInputConfig', 'use_color': False, 'use_depth': False, 'mask_input_dict': {'_target_': 'agent.encoder.MaskInputDict', 'enable': False, 'representation': 'channels', 'mask_list': ['EE_obj_mask']}, 'crop_input_config': {'_target_': 'agent.encoder.CropInputConfig', 'color_crop_type': None, 'depth_crop_type': None, 'segmask_crop_type': None, 'crop_hw': [144, 144], 'crop_down_offset': 48, 'add_crop_binary_mask': False, 'add_coord_conv_map': False}}, 'mask_soft_approx_scheduler_config': {'_target_': 'agent.encoder.MaskSoftApproxSchedulerConfig', 'num_steps': 40000, 'initial_value': 10.0, 'final_value': 1000.0, 'interpolation_scheme': 'cosine'}, 'use_contact_map': False, 'use_sdf_maps': False, 'use_normals_maps': False, 'which_objects': 'both', 'grasped_dtc_max_value': 0.2, 'env_dtc_max_value': 0.4, 'grasped_normals_mask_max_dtc_value': 0.2, 'env_normals_mask_max_dtc_value': 0.4, 'clamp_dtc': True, 'max_contact_prob': 0.1, 'mask_normals_within_sdf': True, 'dtc_adaptive_normalization': False, 'adaptive_normals_mask': True, 'max_depth': 2.0, 'image_shape': [13, 180, 240], 'learnable_contact_preprocess_params': True, 'learning_rate': 0.0001, 'weight_decay': 0.0, 'contact_model_name': 'local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_9', 'zero_centered': False}}, 'true_action_history': False}}, 'num_train_frames_bc': 50000, 'num_train_frames_drq': 1100000, 'stddev_schedule_drq': 'linear(1.0,0.1,100000)', 'task_name': 'FrankaInsertion-v1', 'num_train_frames_vinn': 25000, 'num_train_frames_diffusion': 1000000, 'num_train_epochs_bc': 5000, 'num_train_epochs_diffusion': 15000, 'validate_every_epochs_bc': 5, 'validate_every_epochs_diffusion': 250, 'validate_diffusion_on_action_loss_every_epochs': 250, 'train_eval_diffusion_on_action_loss_every_epochs': 250, 'check_topk_every_epochs': 5, 'check_topk_every_epochs_diffusion': 250, 'save_snapshot_every_epochs_diffusion': 1500, 'x_limit': [0.2, 0.7], 'y_limit': [-0.4, 0.4], 'z_limit': [-0.05, 0.55], 'home_displacement': [0.55, 0.0, 0.55, 180.0, 0.0, 0.0], 'enable_gripper': True, 'start_with_gripper_open': True, 'offset_mask': [1, 1, 1, 1, 1, 1], 'path_to_depth_extrinsics': '~/fish_leon/FISH/cfgs/camera_poses/camera_poses_L515/20240904-122305/color_tf_world.npy', 'feature_type': '180x240_1_RGB_D_2.0_msk_channels_EE_obj_mask_acthst_hst6_out32_dwnkrnl3_dwnstrd2_dwnpd1', 'save_buffer': True, 'num_eval': 20, 'random_start': False, 'eval_starts': '/home/leonmkim/fish_leon/FISH/eval_starts/frankagym_pixels/FrankaInsertion-v1', 'num_valid_demos': None, 'load_checkpoint': True, 'checkpoint_epoch': 12000, 'load_residual_weight': False, 'checkpoint_root_dir': '/home/leonmkim/fish_leon/FISH', 'checkpoint_weight_dir': '/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0', 'residual_weight': '/home/leonmkim/fish_leon/FISH/weights/frankagym_pixels/FrankaInsertion-v1/weight.pt', 'final_experiment_dir': './exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69'}
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4fmihp69/wandb/run-20250107_220610-4fmihp69/files/config.yaml

@@ -0,0 +1,895 @@
+wandb_version: 1
+
+root_dir:
+  desc: null
+  value: /home/leonmkim/fish_leon
+replay_buffer_size:
+  desc: null
+  value: 150000
+replay_buffer_num_workers:
+  desc: null
+  value: 2
+nstep:
+  desc: null
+  value: 3
+batch_size:
+  desc: null
+  value: 128
+seed:
+  desc: null
+  value: 0
+dataset_shuffle_seed:
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+  value: 0
+device:
+  desc: null
+  value: cuda
+save_video:
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+  value: true
+save_train_video:
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+  value: true
+use_tb:
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+  value: true
+use_wandb:
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+  value: true
+wandb_run_id:
+  desc: null
+  value: '1002_0'
+wandb_notes:
+  desc: null
+  value: 1002_0_req_1365_0
+eval:
+  desc: null
+  value: true
+true_action_history:
+  desc: null
+  value: false
+train_pad_after:
+  desc: null
+  value: 4
+process_contact_features:
+  desc: null
+  value: true
+obs_type:
+  desc: null
+  value: pixels
+use_color:
+  desc: null
+  value: true
+use_depth:
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+  value: true
+use_masks:
+  desc: null
+  value: true
+mask_list:
+  desc: null
+  value:
+  - EE_obj_mask
+mask_representation:
+  desc: null
+  value: channels
+crop_hw:
+  desc: null
+  value:
+  - 144
+  - 144
+crop_down_offset:
+  desc: null
+  value: 48
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+  value: null
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+  value: false
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+  value: null
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+  value: false
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+  value: false
+use_contact_map:
+  desc: null
+  value: false
+use_sdf_maps:
+  desc: null
+  value: false
+use_normals_maps:
+  desc: null
+  value: false
+which_objects:
+  desc: null
+  value: both
+max_contact_prob:
+  desc: null
+  value: 0.1
+max_depth:
+  desc: null
+  value: 2.0
+grasped_dtc_max_value:
+  desc: null
+  value: 0.2
+env_dtc_max_value:
+  desc: null
+  value: 0.4
+grasped_normals_mask_max_dtc_value:
+  desc: null
+  value: 0.2
+env_normals_mask_max_dtc_value:
+  desc: null
+  value: 0.4
+clamp_dtc:
+  desc: null
+  value: true
+dtc_adaptive_normalization:
+  desc: null
+  value: false
+mask_normals_within_sdf:
+  desc: null
+  value: true
+adaptive_normals_mask:
+  desc: null
+  value: true
+learnable_contact_preprocess_params:
+  desc: null
+  value: true
+contact_model_name:
+  desc: null
+  value: local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_9
+contact_estimation_model_ckpt_path:
+  desc: null
+  value: ~/fish_leon/contact_estimation/artifacts/175604_2/checkpoints/epoch=09-val_loss=0.00.ckpt
+encoder_type:
+  desc: null
+  value: small
+debug_timestamps:
+  desc: null
+  value: false
+open_loop:
+  desc: null
+  value: false
+action_trajectories:
+  desc: null
+  value: true
+stop_after_action:
+  desc: null
+  value: false
+interpolation_frequency:
+  desc: null
+  value: 25
+policy_frequency:
+  desc: null
+  value: 5
+wait_for_new_camera_frames:
+  desc: null
+  value: true
+baseline:
+  desc: null
+  value: false
+train_demo_idxs_list_or_num:
+  desc: null
+  value: -1
+log_train_every_steps:
+  desc: null
+  value: 25
+name_of_expert_demo:
+  desc: null
+  value: 120_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+expert_dataset_dirpath:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/120_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+store_dataset_in_memory:
+  desc: null
+  value: false
+expert_dataset:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/120_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demos.zarr
+action_key:
+  desc: null
+  value: action_trajectory_25hz
+semantic_demo_grouping_name:
+  desc: null
+  value: semantic_demo_grouping.yaml
+semantic_demo_grouping:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/120_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/semantic_demo_grouping.yaml
+include_groups_list:
+  desc: null
+  value: all
+expert_dataset_config:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/120_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demo_config.yaml
+name_of_valid_demo:
+  desc: null
+  value: 120_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+valid_dataset_dir:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/120_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demos.zarr
+valid_demo_idxs_list_or_num:
+  desc: null
+  value: null
+val_num_groups:
+  desc: null
+  value: 5
+load_bc:
+  desc: null
+  value: true
+checkpoint_epoch_list:
+  desc: null
+  value:
+  - 99
+  - 199
+  - 299
+  - 399
+  - 499
+  - 599
+  - 699
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+  - 7999
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+  - 9999
+snapshot_root_dir:
+  desc: null
+  value: /mnt/grasp_high_usage/leonmkim/contact_estimation/FISH
+save_snapshot:
+  desc: null
+  value: true
+save_last_snapshot:
+  desc: null
+  value: true
+save_snapshot_when_done:
+  desc: null
+  value: true
+top_k_checkpoints:
+  desc: null
+  value: 5
+save_snapshot_link_to_weights_dir:
+  desc: null
+  value: deprecated
+bc_regularize:
+  desc: null
+  value: false
+bc_weight_type:
+  desc: null
+  value: qfilter
+experiment_dir:
+  desc: null
+  value: ./exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0
+agent:
+  desc: null
+  value:
+    _target_: agent.diffusion_policy.DiffusionPolicyAgent
+    name: diffusion_policy
+    load_checkpoint: true
+    device: cuda
+    n_obs_steps: 1
+    suite_name: frankagym
+    obs_type: pixels
+    enable_arm: true
+    enable_camera: true
+    use_tb: true
+    desired_image_shape:
+    - 13
+    - 180
+    - 240
+    orig_cam_shape:
+    - 3
+    - 240
+    - 320
+    config:
+      _target_: agent.diffusion_policy.DiffusionPolicyAgentConfig
+      compile: false
+      device: cuda
+      cam_resize_shape:
+      - 13
+      - 180
+      - 240
+      orig_cam_shape:
+      - 3
+      - 240
+      - 320
+      policy_frequency: 5
+      interpolation_frequency: 25
+      policy_cfg:
+        _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig
+        n_obs_steps: 1
+        horizon: 36
+        n_action_steps: 36
+        output_shapes:
+          action:
+          - 7
+        input_normalization_modes:
+          observation.image: mean_std
+          observation.state: min_max
+          observation.action_history: min_max
+        output_normalization_modes:
+          action: min_max
+        vision_backbone: resnet18
+        pretrained_backbone_weights: null
+        transforms:
+        - _target_: torchaug.transforms.RandomAffine
+          degrees:
+          - -5
+          - 5
+          translate:
+          - 0.05
+          - 0.05
+          batch_transform: true
+          num_chunks: -1
+          batch_inplace: true
+        - _target_: torchaug.transforms.RandomColorJitter
+          brightness: 0.3
+          contrast: 0.4
+          saturation: 0.5
+          hue: 0.08
+          batch_transform: true
+          num_chunks: -1
+          batch_inplace: true
+        use_group_norm: true
+        spatial_softmax_num_keypoints: 32
+        action_history_encoder_config:
+          _target_: lerobot.common.policies.diffusion.configuration_diffusion.Unet1dEncoderConfig
+          in_channels: 7
+          out_channels: 32
+          history_length: 6
+          kernel_size: 5
+          downsample_kernel_size: 3
+          downsample_stride: 2
+          downsample_padding: 1
+        down_dims:
+        - 256
+        - 512
+        - 1024
+        kernel_size: 5
+        n_groups: 8
+        diffusion_step_embed_dim: 128
+        use_film_scale_modulation: true
+        noise_scheduler_type: DDIM
+        beta_schedule: squaredcos_cap_v2
+        beta_start: 0.0001
+        beta_end: 0.02
+        prediction_type: epsilon
+        clip_sample: true
+        clip_sample_range: 1.0
+        num_train_timesteps: 50
+        num_inference_steps: 10
+        do_mask_loss_for_padding: false
+        input_shapes:
+          observation.image:
+          - 13
+          - 180
+          - 240
+          context_observation.image:
+          - 13
+          - 180
+          - 240
+          observation.state:
+          - 8
+          observation.action_history:
+          - 7
+      train_cfg:
+        _target_: utils.TrainConfig
+        lr: 0.0001
+        lr_scheduler: cosine
+        lr_warmup_steps: 500
+        adam_betas:
+        - 0.95
+        - 0.999
+        adam_eps: 1.0e-08
+        adam_weight_decay: 1.0e-06
+        grad_clip_norm: 10
+        offline_steps: 1000000
+        use_amp: true
+      observation_cfg:
+        _target_: agent.encoder.VisualFeatureSet
+        use_depth: true
+        use_color: true
+        mask_input_dict:
+          _target_: agent.encoder.MaskInputDict
+          enable: true
+          representation: channels
+          mask_list:
+          - EE_obj_mask
+        crop_input_config:
+          _target_: agent.encoder.CropInputConfig
+          color_crop_type: null
+          depth_crop_type: null
+          segmask_crop_type: null
+          crop_hw:
+          - 144
+          - 144
+          crop_down_offset: 48
+          add_crop_binary_mask: false
+          add_coord_conv_map: false
+        context_input_config:
+          _target_: agent.encoder.ContextInputConfig
+          use_color: false
+          use_depth: false
+          mask_input_dict:
+            _target_: agent.encoder.MaskInputDict
+            enable: false
+            representation: channels
+            mask_list:
+            - EE_obj_mask
+          crop_input_config:
+            _target_: agent.encoder.CropInputConfig
+            color_crop_type: null
+            depth_crop_type: null
+            segmask_crop_type: null
+            crop_hw:
+            - 144
+            - 144
+            crop_down_offset: 48
+            add_crop_binary_mask: false
+            add_coord_conv_map: false
+        mask_soft_approx_scheduler_config:
+          _target_: agent.encoder.MaskSoftApproxSchedulerConfig
+          num_steps: 40000
+          initial_value: 10.0
+          final_value: 1000.0
+          interpolation_scheme: cosine
+        use_contact_map: false
+        use_sdf_maps: false
+        use_normals_maps: false
+        which_objects: both
+        grasped_dtc_max_value: 0.2
+        env_dtc_max_value: 0.4
+        grasped_normals_mask_max_dtc_value: 0.2
+        env_normals_mask_max_dtc_value: 0.4
+        clamp_dtc: true
+        max_contact_prob: 0.1
+        mask_normals_within_sdf: true
+        dtc_adaptive_normalization: false
+        adaptive_normals_mask: true
+        max_depth: 2.0
+        image_shape:
+        - 13
+        - 180
+        - 240
+        learnable_contact_preprocess_params: true
+        learning_rate: 0.0001
+        weight_decay: 0.0
+        contact_model_name: local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_9
+        zero_centered: false
+suite:
+  desc: null
+  value:
+    suite: frankagym
+    name: frankagym
+    frame_stack: 1
+    action_repeat: 1
+    discount: 0.99
+    hidden_dim: 1024
+    num_train_frames: 2010
+    num_seed_frames: 260
+    num_train_epochs: 5000
+    validate_every_epochs: 100
+    validate_diffusion_on_action_loss_every_epochs: 500
+    train_eval_diffusion_on_action_loss_every_epochs: 500
+    check_topk_every_epochs: 10
+    save_snapshot_every_epochs: 5000
+    eval_every_frames: 2000
+    num_eval_episodes: 5
+    save_snapshot: true
+    wait_for_user_to_start_episode: true
+    task_make_fn:
+      _target_: suite.frankagym.make
+      name: FrankaInsertion-v1
+      height: 240
+      width: 320
+      frame_stack: 1
+      action_repeat: 1
+      seed: 0
+      enable_arm: true
+      enable_gripper: true
+      start_with_gripper_open: true
+      enable_camera: true
+      path_to_depth_extrinsics: ~/fish_leon/FISH/cfgs/camera_poses/camera_poses_L515/20240904-122305/color_tf_world.npy
+      contact_estimation_model_ckpt_path: ~/fish_leon/contact_estimation/artifacts/175604_2/checkpoints/epoch=09-val_loss=0.00.ckpt
+      x_limit:
+      - 0.2
+      - 0.7
+      y_limit:
+      - -0.4
+      - 0.4
+      z_limit:
+      - -0.05
+      - 0.55
+      device: cuda
+      interpolation_frequency: 25
+      policy_frequency: 5
+      debug_timestamps: false
+      stop_after_action: false
+      open_loop: false
+      wait_for_new_camera_frames: true
+      action_key: action_trajectory_25hz
+      action_trajectory_horizon: 36
+      action_trajectories: true
+      path_to_zarr_dataset: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/120_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demos.zarr
+      agent_policy_cfg:
+        _target_: agent.diffusion_policy.DiffusionPolicyAgentConfig
+        compile: false
+        device: cuda
+        cam_resize_shape:
+        - 13
+        - 180
+        - 240
+        orig_cam_shape:
+        - 3
+        - 240
+        - 320
+        policy_frequency: 5
+        interpolation_frequency: 25
+        policy_cfg:
+          _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig
+          n_obs_steps: 1
+          horizon: 36
+          n_action_steps: 36
+          output_shapes:
+            action:
+            - 7
+          input_normalization_modes:
+            observation.image: mean_std
+            observation.state: min_max
+            observation.action_history: min_max
+          output_normalization_modes:
+            action: min_max
+          vision_backbone: resnet18
+          pretrained_backbone_weights: null
+          transforms:
+          - _target_: torchaug.transforms.RandomAffine
+            degrees:
+            - -5
+            - 5
+            translate:
+            - 0.05
+            - 0.05
+            batch_transform: true
+            num_chunks: -1
+            batch_inplace: true
+          - _target_: torchaug.transforms.RandomColorJitter
+            brightness: 0.3
+            contrast: 0.4
+            saturation: 0.5
+            hue: 0.08
+            batch_transform: true
+            num_chunks: -1
+            batch_inplace: true
+          use_group_norm: true
+          spatial_softmax_num_keypoints: 32
+          action_history_encoder_config:
+            _target_: lerobot.common.policies.diffusion.configuration_diffusion.Unet1dEncoderConfig
+            in_channels: 7
+            out_channels: 32
+            history_length: 6
+            kernel_size: 5
+            downsample_kernel_size: 3
+            downsample_stride: 2
+            downsample_padding: 1
+          down_dims:
+          - 256
+          - 512
+          - 1024
+          kernel_size: 5
+          n_groups: 8
+          diffusion_step_embed_dim: 128
+          use_film_scale_modulation: true
+          noise_scheduler_type: DDIM
+          beta_schedule: squaredcos_cap_v2
+          beta_start: 0.0001
+          beta_end: 0.02
+          prediction_type: epsilon
+          clip_sample: true
+          clip_sample_range: 1.0
+          num_train_timesteps: 50
+          num_inference_steps: 10
+          do_mask_loss_for_padding: false
+          input_shapes:
+            observation.image:
+            - 13
+            - 180
+            - 240
+            context_observation.image:
+            - 13
+            - 180
+            - 240
+            observation.state:
+            - 8
+            observation.action_history:
+            - 7
+        train_cfg:
+          _target_: utils.TrainConfig
+          lr: 0.0001
+          lr_scheduler: cosine
+          lr_warmup_steps: 500
+          adam_betas:
+          - 0.95
+          - 0.999
+          adam_eps: 1.0e-08
+          adam_weight_decay: 1.0e-06
+          grad_clip_norm: 10
+          offline_steps: 1000000
+          use_amp: true
+        observation_cfg:
+          _target_: agent.encoder.VisualFeatureSet
+          use_depth: true
+          use_color: true
+          mask_input_dict:
+            _target_: agent.encoder.MaskInputDict
+            enable: true
+            representation: channels
+            mask_list:
+            - EE_obj_mask
+          crop_input_config:
+            _target_: agent.encoder.CropInputConfig
+            color_crop_type: null
+            depth_crop_type: null
+            segmask_crop_type: null
+            crop_hw:
+            - 144
+            - 144
+            crop_down_offset: 48
+            add_crop_binary_mask: false
+            add_coord_conv_map: false
+          context_input_config:
+            _target_: agent.encoder.ContextInputConfig
+            use_color: false
+            use_depth: false
+            mask_input_dict:
+              _target_: agent.encoder.MaskInputDict
+              enable: false
+              representation: channels
+              mask_list:
+              - EE_obj_mask
+            crop_input_config:
+              _target_: agent.encoder.CropInputConfig
+              color_crop_type: null
+              depth_crop_type: null
+              segmask_crop_type: null
+              crop_hw:
+              - 144
+              - 144
+              crop_down_offset: 48
+              add_crop_binary_mask: false
+              add_coord_conv_map: false
+          mask_soft_approx_scheduler_config:
+            _target_: agent.encoder.MaskSoftApproxSchedulerConfig
+            num_steps: 40000
+            initial_value: 10.0
+            final_value: 1000.0
+            interpolation_scheme: cosine
+          use_contact_map: false
+          use_sdf_maps: false
+          use_normals_maps: false
+          which_objects: both
+          grasped_dtc_max_value: 0.2
+          env_dtc_max_value: 0.4
+          grasped_normals_mask_max_dtc_value: 0.2
+          env_normals_mask_max_dtc_value: 0.4
+          clamp_dtc: true
+          max_contact_prob: 0.1
+          mask_normals_within_sdf: true
+          dtc_adaptive_normalization: false
+          adaptive_normals_mask: true
+          max_depth: 2.0
+          image_shape:
+          - 13
+          - 180
+          - 240
+          learnable_contact_preprocess_params: true
+          learning_rate: 0.0001
+          weight_decay: 0.0
+          contact_model_name: local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_9
+          zero_centered: false
+      true_action_history: false
+num_train_frames_bc:
+  desc: null
+  value: 50000
+num_train_frames_drq:
+  desc: null
+  value: 1100000
+stddev_schedule_drq:
+  desc: null
+  value: linear(1.0,0.1,100000)
+task_name:
+  desc: null
+  value: FrankaInsertion-v1
+num_train_frames_vinn:
+  desc: null
+  value: 25000
+num_train_frames_diffusion:
+  desc: null
+  value: 1000000
+num_train_epochs_bc:
+  desc: null
+  value: 5000
+num_train_epochs_diffusion:
+  desc: null
+  value: 15000
+validate_every_epochs_bc:
+  desc: null
+  value: 5
+validate_every_epochs_diffusion:
+  desc: null
+  value: 250
+validate_diffusion_on_action_loss_every_epochs:
+  desc: null
+  value: 250
+train_eval_diffusion_on_action_loss_every_epochs:
+  desc: null
+  value: 250
+check_topk_every_epochs:
+  desc: null
+  value: 5
+check_topk_every_epochs_diffusion:
+  desc: null
+  value: 250
+save_snapshot_every_epochs_diffusion:
+  desc: null
+  value: 1500
+x_limit:
+  desc: null
+  value:
+  - 0.2
+  - 0.7
+y_limit:
+  desc: null
+  value:
+  - -0.4
+  - 0.4
+z_limit:
+  desc: null
+  value:
+  - -0.05
+  - 0.55
+home_displacement:
+  desc: null
+  value:
+  - 0.55
+  - 0.0
+  - 0.55
+  - 180.0
+  - 0.0
+  - 0.0
+enable_gripper:
+  desc: null
+  value: true
+start_with_gripper_open:
+  desc: null
+  value: true
+offset_mask:
+  desc: null
+  value:
+  - 1
+  - 1
+  - 1
+  - 1
+  - 1
+  - 1
+path_to_depth_extrinsics:
+  desc: null
+  value: ~/fish_leon/FISH/cfgs/camera_poses/camera_poses_L515/20240904-122305/color_tf_world.npy
+feature_type:
+  desc: null
+  value: 180x240_1_RGB_D_2.0_msk_channels_EE_obj_mask_acthst_hst6_out32_dwnkrnl3_dwnstrd2_dwnpd1
+save_buffer:
+  desc: null
+  value: true
+num_eval:
+  desc: null
+  value: 20
+random_start:
+  desc: null
+  value: false
+eval_starts:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/eval_starts/frankagym_pixels/FrankaInsertion-v1
+num_valid_demos:
+  desc: null
+  value: null
+load_checkpoint:
+  desc: null
+  value: true
+checkpoint_epoch:
+  desc: null
+  value: 12000
+load_residual_weight:
+  desc: null
+  value: false
+checkpoint_root_dir:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH
+checkpoint_weight_dir:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0
+residual_weight:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/weights/frankagym_pixels/FrankaInsertion-v1/weight.pt
+final_experiment_dir:
+  desc: null
+  value: ./exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69
+_wandb:
+  desc: null
+  value:
+    code_path: code/FISH/eval_robot.py
+    python_version: 3.10.14
+    cli_version: 0.17.5
+    framework: torch
+    is_jupyter_run: false
+    is_kaggle_kernel: false
+    start_time: 1736305570
+    t:
+      1:
+      - 1
+      - 41
+      - 49
+      - 50
+      - 55
+      - 83
+      2:
+      - 1
+      - 41
+      - 49
+      - 50
+      - 55
+      - 83
+      3:
+      - 14
+      - 16
+      - 23
+      - 35
+      - 62
+      4: 3.10.14
+      5: 0.17.5
+      8:
+      - 5
+      13: linux-x86_64
+grasped_obj_name:
+  desc: null
+  value: greece
+left_book_slot:
+  desc: null
+  value: twodim

4fmihp69/wandb/run-20250107_220610-4fmihp69/files/diff.patch

@@ -0,0 +1,30 @@
+diff --git a/FISH/cfgs/config_eval.yaml b/FISH/cfgs/config_eval.yaml
+index a5e82a4..0b377ae 100644
+--- a/FISH/cfgs/config_eval.yaml
++++ b/FISH/cfgs/config_eval.yaml
+@@ -82,7 +82,7 @@ contact_estimation_model_ckpt_path: '~/fish_leon/contact_estimation/artifacts/17
+ 
+ # Number of evaluation trajectories
+ # num_eval: 10
+-num_eval: 5
++num_eval: 20
+ 
+ debug_timestamps: False
+ open_loop: False
+@@ -133,14 +133,14 @@ load_checkpoint: ${agent.load_checkpoint}
+ 
+ # all books, 10/20 demos per book
+ # RGBD+mask+act history
+-# wandb_run_id: '1002_0' 
++wandb_run_id: '1002_0' 
+ # wandb_run_id: '1009_1' # seed 1
+ # wandb_run_id: '1022_0' # dataset shuffle seed 1
+ 
+ # RGBD+mask+contact(all ftrs)+act history
+ # wandb_run_id: '1003_0'
+ # wandb_run_id: '1013_1' # seed 1
+-wandb_run_id: '1017_0' # dataset shuffle seed 1
++# wandb_run_id: '1017_0' # dataset shuffle seed 1
+ 
+ # all books, 6/20 demos per book
+ # RGBD+mask+act history

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4fmihp69/wandb/run-20250107_220610-4fmihp69/files/output.log

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+
+loaded agent with feature_type: 180x240_1_RGB_D_2.0_msk_channels_EE_obj_mask_acthst_hst6_out32_dwnkrnl3_dwnstrd2_dwnpd1
+[INFO] [1736305576.468913]: resetting environment
+[INFO] [1736305576.471975]: cleared current plan
+[INFO] [1736305576.473018]: moving to home
+[INFO] [1736305577.475228]: reached home
+[INFO] [1736305577.476761]: reset action history
+[INFO] [1736305580.185720]: environment reset
+Starting episode 0
+[INFO] [1736305580.187727]: resetting environment
+[INFO] [1736305580.191605]: cleared current plan
+[INFO] [1736305580.192417]: moving to home
+[INFO] [1736305581.194725]: reached home
+[INFO] [1736305581.196158]: reset action history
+[INFO] [1736305583.904575]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!
+[INFO] [1736305592.580290]: resetting environment
+[INFO] [1736305592.583963]: cleared current plan
+[INFO] [1736305592.584939]: moving to home
+[INFO] [1736305593.587134]: reached home
+[INFO] [1736305593.588626]: reset action history
+[INFO] [1736305596.295915]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_0_2025-01-07-22-06-36.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:37921/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-1]: started with pid [2240312]
+process[print_text-2]: started with pid [2240313]
+process[rosbag_record-3]: started with pid [2240337]
+started bagging!
+For topic gripper_width: timestamp difference is -105695017 for nearest: 1736305607805918209 - target: 1736305607911613226 at idx 155
+For topic gripper_width: timestamp difference is -105291447 for nearest: 1736305608005893627 - target: 1736305608111185074 at idx 156
+For topic gripper_width: timestamp difference is 101609562 for nearest: 1736305611605894421 - target: 1736305611504284859 at idx 198
+For topic gripper_width: timestamp difference is 105323756 for nearest: 1736305613405927623 - target: 1736305613300603867 at idx 224
+[INFO] [1736305623.387293]: Storing episode...
+[print_text-2] killing on exit[rosbag_record-3] killing on exit
+[pub_text-1] killing on exit
+[INFO] [1736305624.137993]: Stored episode 1.
+[INFO] [1736305624.140503]: Saving video...
+[INFO] [1736305624.334935]: Video saved!
+Starting episode 1
+[INFO] [1736305624.348346]: resetting environment
+[INFO] [1736305624.356704]: cleared current plan
+[INFO] [1736305624.358052]: moving to home
+[INFO] [1736305627.761226]: reached home
+[INFO] [1736305627.762387]: reset action history
+[INFO] [1736305630.468772]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736305640.519748]: resetting environment
+[INFO] [1736305640.522460]: cleared current plan
+[INFO] [1736305640.522633]: moving to home
+[INFO] [1736305641.524074]: reached home
+[INFO] [1736305641.524492]: reset action history
+[INFO] [1736305644.230282]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_1_2025-01-07-22-07-24.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:34691/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-4]: started with pid [2240449]
+process[print_text-5]: started with pid [2240450]
+process[rosbag_record-6]: started with pid [2240451]
+started bagging!
+For topic gripper_width: timestamp difference is 101743893 for nearest: 1736305668605892376 - target: 1736305668504148483 at idx 249
+[INFO] [1736305671.192727]: Storing episode...
+[rosbag_record-6] killing on exit
+[print_text-5] killing on exit
+[pub_text-4] killing on exit
+[INFO] [1736305671.951818]: Stored episode 2.
+[INFO] [1736305671.952176]: Saving video...
+[INFO] [1736305672.236567]: Video saved!
+Starting episode 2
+[INFO] [1736305672.263374]: resetting environment
+[INFO] [1736305672.271953]: cleared current plan
+[INFO] [1736305672.272615]: moving to home
+[INFO] [1736305675.677617]: reached home
+[INFO] [1736305675.678153]: reset action history
+[INFO] [1736305678.410578]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736305703.726613]: resetting environment
+[INFO] [1736305703.733848]: cleared current plan
+[INFO] [1736305703.734607]: moving to home
+[INFO] [1736305704.737269]: reached home
+[INFO] [1736305704.737781]: reset action history
+[INFO] [1736305707.447535]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_2_2025-01-07-22-08-27.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:38191/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-7]: started with pid [2240624]
+process[print_text-8]: started with pid [2240625]
+process[rosbag_record-9]: started with pid [2240626]
+started bagging!
+[INFO] [1736305734.587184]: Storing episode...
+[print_text-8] killing on exit
+[rosbag_record-9] killing on exit
+[pub_text-7] killing on exit
+[INFO] [1736305735.354895]: Stored episode 3.
+[INFO] [1736305735.356939]: Saving video...
+[INFO] [1736305735.697052]: Video saved!
+Starting episode 3
+[INFO] [1736305735.733077]: resetting environment
+[INFO] [1736305735.758852]: cleared current plan
+[INFO] [1736305735.762787]: moving to home
+[INFO] [1736305739.176764]: reached home
+[INFO] [1736305739.180386]: reset action history
+[INFO] [1736305741.964594]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736305745.400726]: resetting environment
+[INFO] [1736305745.416530]: cleared current plan
+[INFO] [1736305745.418978]: moving to home
+[INFO] [1736305746.421896]: reached home
+[INFO] [1736305746.423091]: reset action history
+[INFO] [1736305749.191514]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_3_2025-01-07-22-09-09.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:45399/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-10]: started with pid [2240757]
+process[print_text-11]: started with pid [2240758]
+process[rosbag_record-12]: started with pid [2240759]
+started bagging!
+[INFO] [1736305776.352542]: Storing episode...
+[rosbag_record-12] killing on exit
+[pub_text-10] killing on exit
+[print_text-11] killing on exit
+[INFO] [1736305777.098168]: Stored episode 4.
+[INFO] [1736305777.105361]: Saving video...
+[INFO] [1736305777.737623]: Video saved!
+Starting episode 4
+[INFO] [1736305777.772900]: resetting environment
+[INFO] [1736305777.786167]: cleared current plan
+[INFO] [1736305777.792971]: moving to home
+[WARN] [1736305777.710520]: Plan exhausted
+[WARN] [1736305777.746130]: Plan exhausted
+[INFO] [1736305781.102467]: reached home
+[INFO] [1736305781.106429]: reset action history
+[INFO] [1736305783.890864]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736305789.150757]: resetting environment
+[INFO] [1736305789.164240]: cleared current plan
+[INFO] [1736305789.167341]: moving to home
+[INFO] [1736305790.173218]: reached home
+[INFO] [1736305790.177096]: reset action history
+[INFO] [1736305792.955008]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_4_2025-01-07-22-09-52.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:35521/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-13]: started with pid [2240895]
+process[print_text-14]: started with pid [2240896]
+process[rosbag_record-15]: started with pid [2240897]
+started bagging!
+[INFO] [1736305821.139855]: Storing episode...
+[rosbag_record-15] killing on exit
+[pub_text-13] killing on exit
+[print_text-14] killing on exit
+[INFO] [1736305821.918236]: Stored episode 5.
+[INFO] [1736305821.923011]: Saving video...
+[INFO] [1736305822.171954]: Video saved!
+Starting episode 5
+[INFO] [1736305822.224351]: resetting environment
+[INFO] [1736305822.256186]: cleared current plan
+[INFO] [1736305822.258565]: moving to home
+[INFO] [1736305825.661202]: reached home
+[INFO] [1736305825.672749]: reset action history
+[INFO] [1736305828.519313]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736305837.750268]: resetting environment
+[INFO] [1736305837.764336]: cleared current plan
+[INFO] [1736305837.770130]: moving to home
+[INFO] [1736305838.776173]: reached home
+[INFO] [1736305838.780073]: reset action history
+[INFO] [1736305841.555333]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_5_2025-01-07-22-10-41.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:39765/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-16]: started with pid [2241007]
+process[print_text-17]: started with pid [2241008]
+process[rosbag_record-18]: started with pid [2241032]
+started bagging!
+For topic gripper_width: timestamp difference is 103306562 for nearest: 1736305865572559864 - target: 1736305865469253302 at idx 249
+For topic gripper_width: timestamp difference is 105376541 for nearest: 1736305866572584211 - target: 1736305866467207670 at idx 249
+[INFO] [1736305868.582047]: Storing episode...
+[rosbag_record-18] killing on exit
+[print_text-17] killing on exit[pub_text-16] killing on exit
+[INFO] [1736305869.346218]: Stored episode 6.
+[INFO] [1736305869.351126]: Saving video...
+[INFO] [1736305869.787626]: Video saved!
+Starting episode 6
+[INFO] [1736305869.836522]: resetting environment
+[INFO] [1736305869.865009]: cleared current plan
+[INFO] [1736305869.865482]: moving to home
+[INFO] [1736305873.282623]: reached home
+[INFO] [1736305873.296414]: reset action history
+[INFO] [1736305876.089953]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736305882.525617]: resetting environment
+[INFO] [1736305882.552091]: cleared current plan
+[INFO] [1736305882.563951]: moving to home
+[INFO] [1736305883.568567]: reached home
+[INFO] [1736305883.575531]: reset action history
+[INFO] [1736305886.376509]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_6_2025-01-07-22-11-26.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:34855/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-19]: started with pid [2241142]
+process[print_text-20]: started with pid [2241166]
+process[rosbag_record-21]: started with pid [2241167]
+started bagging!
+For topic gripper_width: timestamp difference is -124711897 for nearest: 1736305909605880354 - target: 1736305909730592251 at idx 249
+[INFO] [1736305913.410918]: Storing episode...
+[rosbag_record-21] killing on exit
+[print_text-20] killing on exit[pub_text-19] killing on exit
+[INFO] [1736305914.396925]: Stored episode 7.
+[INFO] [1736305914.410893]: Saving video...
+[INFO] [1736305914.888734]: Video saved!
+Starting episode 7
+[INFO] [1736305915.001236]: resetting environment
+[INFO] [1736305915.021378]: cleared current plan
+[INFO] [1736305915.022149]: moving to home
+[WARN] [1736305914.748033]: Plan exhausted
+[WARN] [1736305914.789601]: Plan exhausted
+[WARN] [1736305914.833943]: Plan exhausted
+[WARN] [1736305914.866375]: Plan exhausted
+[WARN] [1736305914.910455]: Plan exhausted
+[WARN] [1736305914.946977]: Plan exhausted
+[WARN] [1736305914.987429]: Plan exhausted
+[INFO] [1736305918.326613]: reached home
+[INFO] [1736305918.332484]: reset action history
+[INFO] [1736305921.250778]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736305926.873556]: resetting environment
+[INFO] [1736305926.920372]: cleared current plan
+[INFO] [1736305926.926756]: moving to home
+[INFO] [1736305927.932544]: reached home
+[INFO] [1736305927.952080]: reset action history
+[INFO] [1736305930.769367]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_7_2025-01-07-22-12-10.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:36105/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-22]: started with pid [2241299]
+process[print_text-23]: started with pid [2241300]
+process[rosbag_record-24]: started with pid [2241301]
+started bagging!
+For topic gripper_width: timestamp difference is 103159194 for nearest: 1736305944372584586 - target: 1736305944269425392 at idx 193
+[INFO] [1736305959.529459]: Storing episode...
+[pub_text-22] killing on exit
+[print_text-23] killing on exit
+[rosbag_record-24] killing on exit
+[INFO] [1736305960.341265]: Stored episode 8.
+[INFO] [1736305960.360843]: Saving video...
+[INFO] [1736305961.077393]: Video saved!
+Starting episode 8
+[INFO] [1736305961.176821]: resetting environment
+[INFO] [1736305961.211716]: cleared current plan
+[INFO] [1736305961.218246]: moving to home
+[WARN] [1736305960.869341]: Plan exhausted
+[WARN] [1736305960.906238]: Plan exhausted
+[WARN] [1736305960.952406]: Plan exhausted
+[WARN] [1736305960.987096]: Plan exhausted
+[WARN] [1736305961.026706]: Plan exhausted
+[WARN] [1736305961.070874]: Plan exhausted
+[WARN] [1736305961.108765]: Plan exhausted
+[WARN] [1736305961.146355]: Plan exhausted
+[WARN] [1736305961.187384]: Plan exhausted
+[INFO] [1736305964.528429]: reached home
+[INFO] [1736305964.534469]: reset action history
+[INFO] [1736305967.448746]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736305976.560426]: resetting environment
+[INFO] [1736305976.617458]: cleared current plan
+[INFO] [1736305976.620754]: moving to home
+[INFO] [1736305977.630108]: reached home
+[INFO] [1736305977.641869]: reset action history
+[INFO] [1736305980.531014]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_8_2025-01-07-22-13-00.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:39527/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-25]: started with pid [2241439]
+process[print_text-26]: started with pid [2241440]
+process[rosbag_record-27]: started with pid [2241441]
+started bagging!
+For topic gripper_width: timestamp difference is -108172358 for nearest: 1736305984305892526 - target: 1736305984414064884 at idx 49
+For topic gripper_width: timestamp difference is -100549686 for nearest: 1736305988105887902 - target: 1736305988206437588 at idx 101
+For topic gripper_width: timestamp difference is 114664591 for nearest: 1736305995905888117 - target: 1736305995791223526 at idx 203
+[INFO] [1736306009.673836]: Storing episode...
+[rosbag_record-27] killing on exit
+[pub_text-25] killing on exit
+[print_text-26] killing on exit
+[INFO] [1736306010.444481]: Stored episode 9.
+[INFO] [1736306010.451221]: Saving video...
+[INFO] [1736306010.785988]: Video saved!
+Starting episode 9
+[INFO] [1736306010.876472]: resetting environment
+[INFO] [1736306010.903695]: cleared current plan
+[INFO] [1736306010.904660]: moving to home
+[INFO] [1736306014.110414]: reached home
+[INFO] [1736306014.123541]: reset action history
+[INFO] [1736306017.036695]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736306023.857073]: resetting environment
+[INFO] [1736306023.871042]: cleared current plan
+[INFO] [1736306023.874825]: moving to home
+[INFO] [1736306024.878268]: reached home
+[INFO] [1736306024.892880]: reset action history
+[INFO] [1736306027.764315]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_9_2025-01-07-22-13-47.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:33107/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-28]: started with pid [2241584]
+process[print_text-29]: started with pid [2241585]
+process[rosbag_record-30]: started with pid [2241586]
+started bagging!
+For topic gripper_width: timestamp difference is 114327260 for nearest: 1736306037372558185 - target: 1736306037258230925 at idx 133
+For topic gripper_width: timestamp difference is 107355824 for nearest: 1736306039772556057 - target: 1736306039665200233 at idx 163
+[INFO] [1736306058.751873]: Storing episode...
+[rosbag_record-30] killing on exit
+[pub_text-28] killing on exit
+[print_text-29] killing on exit
+[INFO] [1736306059.553628]: Stored episode 10.
+[INFO] [1736306059.565660]: Saving video...
+[INFO] [1736306059.890462]: Video saved!
+Starting episode 10
+[INFO] [1736306059.960857]: resetting environment
+[INFO] [1736306059.980299]: cleared current plan
+[INFO] [1736306059.993261]: moving to home
+[INFO] [1736306063.609441]: reached home
+[INFO] [1736306063.628783]: reset action history
+[INFO] [1736306066.508474]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736306072.890666]: resetting environment
+[INFO] [1736306072.925486]: cleared current plan
+[INFO] [1736306072.926137]: moving to home
+[INFO] [1736306073.927120]: reached home
+[INFO] [1736306073.944129]: reset action history
+[INFO] [1736306076.866972]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_10_2025-01-07-22-14-36.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:41357/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-31]: started with pid [2241718]
+process[print_text-32]: started with pid [2241719]
+process[rosbag_record-33]: started with pid [2241720]
+started bagging!
+For topic gripper_width: timestamp difference is -146478998 for nearest: 1736306092805915011 - target: 1736306092952394009 at idx 227
+[INFO] [1736306108.795033]: Storing episode...
+[print_text-32] killing on exit
+[pub_text-31] killing on exit
+[rosbag_record-33] killing on exit
+[INFO] [1736306109.589191]: Stored episode 11.
+[INFO] [1736306109.594276]: Saving video...
+[INFO] [1736306109.910531]: Video saved!
+Starting episode 11
+[INFO] [1736306110.083786]: resetting environment
+[INFO] [1736306110.107860]: cleared current plan
+[INFO] [1736306110.110024]: moving to home
+[WARN] [1736306110.106160]: Plan exhausted
+[INFO] [1736306113.719244]: reached home
+[INFO] [1736306113.743987]: reset action history
+[INFO] [1736306116.686118]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736306122.185081]: resetting environment
+[INFO] [1736306122.205246]: cleared current plan
+[INFO] [1736306122.207436]: moving to home
+[INFO] [1736306123.216109]: reached home
+[INFO] [1736306123.238855]: reset action history
+[INFO] [1736306126.173131]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_11_2025-01-07-22-15-26.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:33331/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-34]: started with pid [2241853]
+process[print_text-35]: started with pid [2241854]
+process[rosbag_record-36]: started with pid [2241855]
+started bagging!
+For topic gripper_width: timestamp difference is 100334409 for nearest: 1736306147305835012 - target: 1736306147205500603 at idx 249
+For topic gripper_width: timestamp difference is 101815772 for nearest: 1736306149105850768 - target: 1736306149004034996 at idx 249
+[INFO] [1736306157.298961]: Storing episode...
+[rosbag_record-36] killing on exit
+[print_text-35] killing on exit
+[pub_text-34] killing on exit
+[INFO] [1736306158.077796]: Stored episode 12.
+[INFO] [1736306158.090584]: Saving video...
+[INFO] [1736306158.519709]: Video saved!
+Starting episode 12
+[INFO] [1736306158.617911]: resetting environment
+[INFO] [1736306158.656441]: cleared current plan
+[INFO] [1736306158.668203]: moving to home
+[INFO] [1736306161.891122]: reached home
+[INFO] [1736306161.907767]: reset action history
+[INFO] [1736306164.935235]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736306171.980604]: resetting environment
+[INFO] [1736306172.029214]: cleared current plan
+[INFO] [1736306172.043337]: moving to home
+[INFO] [1736306173.046781]: reached home
+[INFO] [1736306173.069386]: reset action history
+[INFO] [1736306176.015396]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_12_2025-01-07-22-16-16.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:34873/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-37]: started with pid [2241989]
+process[print_text-38]: started with pid [2241990]
+process[rosbag_record-39]: started with pid [2241991]
+started bagging!
+For topic gripper_width: timestamp difference is -100792834 for nearest: 1736306191405888131 - target: 1736306191506680965 at idx 208
+For topic gripper_width: timestamp difference is 110815395 for nearest: 1736306197372512926 - target: 1736306197261697531 at idx 249
+For topic gripper_width: timestamp difference is 110640810 for nearest: 1736306205772506521 - target: 1736306205661865711 at idx 249
+[INFO] [1736306209.133844]: Storing episode...
+[print_text-38] killing on exit
+[rosbag_record-39] killing on exit
+[pub_text-37] killing on exit
+[INFO] [1736306209.914609]: Stored episode 13.
+[INFO] [1736306209.936667]: Saving video...
+[INFO] [1736306210.281573]: Video saved!
+Starting episode 13
+[INFO] [1736306210.450858]: resetting environment
+[INFO] [1736306210.489843]: cleared current plan
+[INFO] [1736306210.501292]: moving to home
+[WARN] [1736306210.269035]: Plan exhausted
+[WARN] [1736306210.306402]: Plan exhausted
+[WARN] [1736306210.354434]: Plan exhausted
+[WARN] [1736306210.388470]: Plan exhausted
+[WARN] [1736306210.426869]: Plan exhausted
+[WARN] [1736306210.473464]: Plan exhausted
+[INFO] [1736306214.121952]: reached home
+[INFO] [1736306214.160615]: reset action history
+[INFO] [1736306217.205798]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736306221.668656]: resetting environment
+[INFO] [1736306221.721213]: cleared current plan
+[INFO] [1736306221.733145]: moving to home
+[INFO] [1736306222.739444]: reached home
+[INFO] [1736306222.766216]: reset action history
+[INFO] [1736306225.721157]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_13_2025-01-07-22-17-05.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:36281/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-40]: started with pid [2242102]
+process[print_text-41]: started with pid [2242126]
+process[rosbag_record-42]: started with pid [2242127]
+started bagging!
+For topic gripper_width: timestamp difference is 102972362 for nearest: 1736306226672555063 - target: 1736306226569582701 at idx 15
+For topic gripper_width: timestamp difference is 104321249 for nearest: 1736306227872552164 - target: 1736306227768230915 at idx 31
+For topic gripper_width: timestamp difference is 104524181 for nearest: 1736306234872553394 - target: 1736306234768029213 at idx 117
+For topic gripper_width: timestamp difference is 110482920 for nearest: 1736306242272581566 - target: 1736306242162098646 at idx 209
+For topic gripper_width: timestamp difference is 110640170 for nearest: 1736306242472578885 - target: 1736306242361938715 at idx 211
+For topic gripper_width: timestamp difference is 114476691 for nearest: 1736306247272554646 - target: 1736306247158077955 at idx 249
+For topic gripper_width: timestamp difference is 115138141 for nearest: 1736306248072554199 - target: 1736306247957416058 at idx 249
+For topic gripper_width: timestamp difference is 116651979 for nearest: 1736306249872556654 - target: 1736306249755904675 at idx 249
+[INFO] [1736306252.846845]: Storing episode...
+[rosbag_record-42] killing on exit
+[pub_text-40] killing on exit
+[print_text-41] killing on exit
+[INFO] [1736306253.669517]: Stored episode 14.
+[INFO] [1736306253.691984]: Saving video...
+[INFO] [1736306254.013452]: Video saved!
+Starting episode 14
+[INFO] [1736306254.177017]: resetting environment
+[INFO] [1736306254.213543]: cleared current plan
+[INFO] [1736306254.223113]: moving to home
+[WARN] [1736306254.192015]: Plan exhausted
+[INFO] [1736306257.658682]: reached home
+[INFO] [1736306257.668607]: reset action history
+[INFO] [1736306260.707873]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736306268.043897]: resetting environment
+[INFO] [1736306268.124975]: cleared current plan
+[INFO] [1736306268.135733]: moving to home
+[INFO] [1736306269.158985]: reached home
+[INFO] [1736306269.180692]: reset action history
+[INFO] [1736306272.331151]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_14_2025-01-07-22-17-52.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:34279/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-43]: started with pid [2242260]
+process[print_text-44]: started with pid [2242261]
+process[rosbag_record-45]: started with pid [2242262]
+started bagging!
+For topic gripper_width: timestamp difference is 112210690 for nearest: 1736306285772555768 - target: 1736306285660345078 at idx 184
+[INFO] [1736306306.931038]: Storing episode...
+[rosbag_record-45] killing on exit
+[print_text-44] killing on exit
+[pub_text-43] killing on exit
+[INFO] [1736306307.728755]: Stored episode 15.
+[INFO] [1736306307.739730]: Saving video...
+[INFO] [1736306308.145507]: Video saved!
+Starting episode 15
+[INFO] [1736306308.334039]: resetting environment
+[INFO] [1736306308.363085]: cleared current plan
+[INFO] [1736306308.363529]: moving to home
+[WARN] [1736306308.109380]: Plan exhausted
+[WARN] [1736306308.163645]: Plan exhausted
+[WARN] [1736306308.191680]: Plan exhausted
+[WARN] [1736306308.228342]: Plan exhausted
+[WARN] [1736306308.274883]: Plan exhausted
+[WARN] [1736306308.306499]: Plan exhausted
+[WARN] [1736306308.351737]: Plan exhausted
+[INFO] [1736306311.968752]: reached home
+[INFO] [1736306311.992387]: reset action history
+[INFO] [1736306315.071094]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736306319.917743]: resetting environment
+[INFO] [1736306319.973130]: cleared current plan
+[INFO] [1736306319.980844]: moving to home
+[INFO] [1736306320.992338]: reached home
+[INFO] [1736306321.012727]: reset action history
+[INFO] [1736306324.040895]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_15_2025-01-07-22-18-44.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:40785/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-46]: started with pid [2242398]
+process[print_text-47]: started with pid [2242399]
+process[rosbag_record-48]: started with pid [2242400]
+started bagging!
+[INFO] [1736306359.130706]: Storing episode...
+[rosbag_record-48] killing on exit
+[print_text-47] killing on exit
+[pub_text-46] killing on exit
+[INFO] [1736306360.028395]: Stored episode 16.
+[INFO] [1736306360.035241]: Saving video...
+[INFO] [1736306360.494017]: Video saved!
+Starting episode 16
+[INFO] [1736306360.704808]: resetting environment
+[INFO] [1736306360.754106]: cleared current plan
+[INFO] [1736306360.756943]: moving to home
+[WARN] [1736306360.472686]: Plan exhausted
+[WARN] [1736306360.507196]: Plan exhausted
+[WARN] [1736306360.549186]: Plan exhausted
+[WARN] [1736306360.595176]: Plan exhausted
+[WARN] [1736306360.627943]: Plan exhausted
+[WARN] [1736306360.669828]: Plan exhausted
+[WARN] [1736306360.722352]: Plan exhausted
+[WARN] [1736306360.746135]: Plan exhausted
+[INFO] [1736306364.214932]: reached home
+[INFO] [1736306364.250177]: reset action history
+[INFO] [1736306367.385508]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736306376.382299]: resetting environment
+[INFO] [1736306376.448025]: cleared current plan
+[INFO] [1736306376.458740]: moving to home
+[INFO] [1736306377.488537]: reached home
+[INFO] [1736306377.492920]: reset action history
+[INFO] [1736306380.635933]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_16_2025-01-07-22-19-40.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:32873/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-49]: started with pid [2242549]
+process[print_text-50]: started with pid [2242550]
+process[rosbag_record-51]: started with pid [2242551]
+started bagging!
+[INFO] [1736306413.934783]: Storing episode...
+[rosbag_record-51] killing on exit
+[print_text-50] killing on exit
+[pub_text-49] killing on exit
+[INFO] [1736306414.802311]: Stored episode 17.
+[INFO] [1736306414.834226]: Saving video...
+[INFO] [1736306415.326443]: Video saved!
+Starting episode 17
+[INFO] [1736306415.454560]: resetting environment
+[INFO] [1736306415.485749]: cleared current plan
+[INFO] [1736306415.495411]: moving to home
+[WARN] [1736306415.269188]: Plan exhausted
+[WARN] [1736306415.307482]: Plan exhausted
+[WARN] [1736306415.347151]: Plan exhausted
+[WARN] [1736306415.389150]: Plan exhausted
+[WARN] [1736306415.431518]: Plan exhausted
+[WARN] [1736306415.471049]: Plan exhausted
+[INFO] [1736306418.904325]: reached home
+[INFO] [1736306418.936286]: reset action history
+[INFO] [1736306422.212834]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736306432.182553]: resetting environment
+[INFO] [1736306432.271806]: cleared current plan
+[INFO] [1736306432.289356]: moving to home
+[INFO] [1736306433.311364]: reached home
+[INFO] [1736306433.335271]: reset action history
+[INFO] [1736306436.489994]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_17_2025-01-07-22-20-36.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:42247/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-52]: started with pid [2242685]
+process[print_text-53]: started with pid [2242686]
+process[rosbag_record-54]: started with pid [2242687]
+started bagging!
+For topic gripper_width: timestamp difference is -104428422 for nearest: 1736306471405843366 - target: 1736306471510271788 at idx 249
+[INFO] [1736306471.777237]: Storing episode...
+[rosbag_record-54] killing on exit[print_text-53] killing on exit
+[pub_text-52] killing on exit
+[INFO] [1736306472.564884]: Stored episode 18.
+[INFO] [1736306472.594105]: Saving video...
+[INFO] [1736306473.136586]: Video saved!
+Starting episode 18
+[INFO] [1736306473.257616]: resetting environment
+[INFO] [1736306473.301364]: cleared current plan
+[INFO] [1736306473.313538]: moving to home
+[WARN] [1736306473.155866]: Plan exhausted
+[WARN] [1736306473.186544]: Plan exhausted
+[WARN] [1736306473.227680]: Plan exhausted
+[WARN] [1736306473.275739]: Plan exhausted
+[INFO] [1736306476.828122]: reached home
+[INFO] [1736306476.834310]: reset action history
+[INFO] [1736306479.920143]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736306487.364856]: resetting environment
+[INFO] [1736306487.428799]: cleared current plan
+[INFO] [1736306487.435911]: moving to home
+[INFO] [1736306488.457815]: reached home
+[INFO] [1736306488.465078]: reset action history
+[INFO] [1736306491.653314]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_18_2025-01-07-22-21-31.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:46253/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-55]: started with pid [2242820]
+process[print_text-56]: started with pid [2242821]
+process[rosbag_record-57]: started with pid [2242822]
+started bagging!
+For topic gripper_width: timestamp difference is -103289008 for nearest: 1736306513905835271 - target: 1736306514009124279 at idx 249
+For topic gripper_width: timestamp difference is -101560063 for nearest: 1736306515905916267 - target: 1736306516007476330 at idx 249
+[INFO] [1736306518.897945]: Storing episode...
+[rosbag_record-57] killing on exit
+[print_text-56] killing on exit
+[pub_text-55] killing on exit
+[INFO] [1736306519.706595]: Stored episode 19.
+[INFO] [1736306519.724075]: Saving video...
+[INFO] [1736306520.297850]: Video saved!
+Starting episode 19
+[INFO] [1736306520.424841]: resetting environment
+[INFO] [1736306520.491859]: cleared current plan
+[INFO] [1736306520.496404]: moving to home
+[WARN] [1736306520.269507]: Plan exhausted
+[WARN] [1736306520.313622]: Plan exhausted
+[WARN] [1736306520.353946]: Plan exhausted
+[WARN] [1736306520.390015]: Plan exhausted
+[WARN] [1736306520.450342]: Plan exhausted
+[WARN] [1736306520.466505]: Plan exhausted
+[INFO] [1736306524.111281]: reached home
+[INFO] [1736306524.139359]: reset action history
+[INFO] [1736306527.339032]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1736306531.517996]: resetting environment
+[INFO] [1736306531.586603]: cleared current plan
+[INFO] [1736306531.629436]: moving to home
+[INFO] [1736306532.671337]: reached home
+[INFO] [1736306532.687034]: reset action history
+[INFO] [1736306535.885147]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/1002_0/4fmihp69/episode_rosbags/episode_19_2025-01-07-22-22-15.bag
+... logging to /home/leonmkim/.ros/log/a8a09c64-c64e-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2240043.log
+started roslaunch server http://158.130.50.37:38263/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-58]: started with pid [2242931]
+process[print_text-59]: started with pid [2242955]
+process[rosbag_record-60]: started with pid [2242956]
+started bagging!
+For topic gripper_width: timestamp difference is 100181754 for nearest: 1736306559772553618 - target: 1736306559672371864 at idx 249
+For topic gripper_width: timestamp difference is 101322558 for nearest: 1736306561172551539 - target: 1736306561071228981 at idx 249
+[INFO] [1736306562.982249]: Storing episode...
+[pub_text-58] killing on exit
+[rosbag_record-60] killing on exit
+[print_text-59] killing on exit
+[INFO] [1736306564.750685]: Stored episode 20.
+[INFO] [1736306564.834585]: Saving video...
+[INFO] [1736306565.208903]: Video saved!
+[INFO] [1736306565.381565]: resetting environment
+[INFO] [1736306565.447582]: cleared current plan
+[INFO] [1736306565.463940]: moving to home
+[WARN] [1736306564.306347]: Plan exhausted
+[WARN] [1736306564.347940]: Plan exhausted
+[WARN] [1736306564.399289]: Plan exhausted
+[WARN] [1736306564.437076]: Plan exhausted
+[WARN] [1736306564.469632]: Plan exhausted
+[WARN] [1736306564.518384]: Plan exhausted
+[WARN] [1736306564.547934]: Plan exhausted
+[WARN] [1736306564.593289]: Plan exhausted
+[WARN] [1736306564.631047]: Plan exhausted
+[WARN] [1736306564.669172]: Plan exhausted
+[WARN] [1736306564.781067]: Plan exhausted
+[WARN] [1736306564.856336]: Plan exhausted
+[WARN] [1736306564.900053]: Plan exhausted
+[WARN] [1736306564.929740]: Plan exhausted
+[WARN] [1736306564.955721]: Plan exhausted
+[WARN] [1736306565.001312]: Plan exhausted
+[WARN] [1736306565.039823]: Plan exhausted
+[WARN] [1736306565.071103]: Plan exhausted
+[WARN] [1736306565.117192]: Plan exhausted
+[WARN] [1736306565.153080]: Plan exhausted
+[WARN] [1736306565.190893]: Plan exhausted
+[WARN] [1736306565.230548]: Plan exhausted
+[WARN] [1736306565.270691]: Plan exhausted
+[WARN] [1736306565.322126]: Plan exhausted
+[WARN] [1736306565.350085]: Plan exhausted
+[WARN] [1736306565.392540]: Plan exhausted
+[WARN] [1736306565.430528]: Plan exhausted
+[INFO] [1736306568.887700]: reached home
+[INFO] [1736306568.910339]: reset action history
+[INFO] [1736306572.288632]: environment reset
+Evaluation finished. To wrap up, rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+proceeding to start episode!

4fmihp69/wandb/run-20250107_220610-4fmihp69/files/requirements.txt

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4fmihp69/wandb/run-20250107_220610-4fmihp69/files/wandb-metadata.json

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4fmihp69/wandb/run-20250107_220610-4fmihp69/files/wandb-summary.json

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