09:36:08 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
🔄 Batch 1/4: 20% Sim: 0.7s / Real: 2.2s 09:36:12 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Batch 1/4: 64% Sim: 2.3s / Real: 7.2s 09:36:17 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Preparing Batch 2/4
======================================================================================
[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-26_09-36-21.log
======================================================================================
09:36:21 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
🔄 Batch 2/4: 20% Sim: 0.7s / Real: 2.1s 09:36:24 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Batch 2/4: 67% Sim: 2.4s / Real: 7.1s 09:36:29 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Preparing Batch 3/4
======================================================================================
[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-26_09-36-32.log
======================================================================================
09:36:32 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
🔄 Batch 3/4: 21% Sim: 0.8s / Real: 2.7s 09:36:36 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Batch 3/4: 61% Sim: 2.1s / Real: 7.7s 09:36:41 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Preparing Batch 4/4
======================================================================================
[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-26_09-36-46.log
======================================================================================
09:36:46 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
🔄 Batch 4/4: 25% Sim: 0.9s / Real: 3.2s 09:36:50 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Batch 4/4: 64% Sim: 2.2s / Real: 8.2s 09:36:55 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
Limited to 27 grasps from 80 available (11 success, 16 failed)
✓ Validation complete: 51.8s : Successes 11, Fails 53 (16 total fails) , and 27 total grasps in ⏱️ 52.3s
[7/7500] (0.1%) Processing: /output/grasp_dataset_7500/grasp_data/piper/00238df4d2ae48409888a8dc21e643a9.obj.0.05695167699585982.grasps.json
✓ Generated 64 success + 16 fail grasps in 0.0s (1 tries)
🔍 Validating 64 grasps with piper.usd, and creating USD file: /objects/raw/00238df4d2ae48409888a8dc21e643a9.usd
🔄 Preparing Batch 1/4
======================================================================================
[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-26_09-37-00.log
======================================================================================
09:37:00 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
🔄 Batch 1/4: 20% Sim: 0.7s / Real: 2.2s 09:37:03 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Batch 1/4: 68% Sim: 2.4s / Real: 7.2s 09:37:08 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Batch 1/4: 77% Sim: 2.7s / Real: 8.2s ^C
(base) mj-robot@mjrobot-Default-string:~/piper_graspgen/scripts$ ^C
(base) mj-robot@mjrobot-Default-string:~/piper_graspgen/scripts$ tail -f /tmp/7500.log
🔄 Batch 1/4: 21% Sim: 0.7s / Real: 2.4s 09:55:37 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Batch 1/4: 64% Sim: 2.2s / Real: 7.4s 09:55:42 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Preparing Batch 2/4
======================================================================================
[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-26_09-55-46.log
======================================================================================
09:55:46 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
🔄 Batch 2/4: 26% Sim: 0.9s / Real: 2.9s 09:55:50 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Batch 2/4: 71% Sim: 2.5s / Real: 7.9s 09:55:55 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Preparing Batch 3/4
======================================================================================
[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-26_09-55-58.log
======================================================================================
09:55:58 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
🔄 Batch 3/4: 19% Sim: 0.7s / Real: 2.1s 09:56:01 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Batch 3/4: 65% Sim: 2.3s / Real: 7.1s 09:56:06 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Preparing Batch 4/4
======================================================================================
[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-26_09-56-09.log
======================================================================================
09:56:09 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
🔄 Batch 4/4: 23% Sim: 0.8s / Real: 2.5s 09:56:13 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
Limited to 30 grasps from 80 available (14 success, 16 failed)
✓ Validation complete: 43.7s : Successes 14, Fails 50 (16 total fails) , and 30 total grasps in ⏱️ 43.8s
[33/7500] (0.4%) Processing: /output/grasp_dataset_7500/grasp_data/piper/00e9e6b9dbc34dc1ae691529688ab000.obj.0.0068457012868872414.grasps.json
✓ Generated 64 success + 16 fail grasps in 0.2s (1 tries)
🔍 Validating 64 grasps with piper.usd, and creating USD file: /objects/raw/00e9e6b9dbc34dc1ae691529688ab000.usd
🔄 Preparing Batch 1/4
======================================================================================
[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-26_09-56-17.log
======================================================================================
09:56:17 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
🔄 Batch 1/4: 26% Sim: 0.9s / Real: 3.1s 09:56:22 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Batch 1/4: 68% Sim: 2.4s / Real: 8.1s 09:56:27 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Preparing Batch 2/4
======================================================================================
[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-26_09-56-30.log
======================================================================================
09:56:30 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
🔄 Batch 2/4: 21% Sim: 0.8s / Real: 2.4s 09:56:34 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Batch 2/4: 66% Sim: 2.3s / Real: 7.4s 09:56:39 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Preparing Batch 3/4
======================================================================================
[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-26_09-56-42.log
======================================================================================
09:56:42 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
🔄 Batch 3/4: 21% Sim: 0.8s / Real: 2.4s 09:56:46 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Batch 3/4: 66% Sim: 2.3s / Real: 7.4s 09:56:51 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Preparing Batch 4/4
======================================================================================
[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-26_09-56-55.log
======================================================================================
09:56:55 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
🔄 Batch 4/4: 21% Sim: 0.7s / Real: 2.3s 09:56:58 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Batch 4/4: 65% Sim: 2.3s / Real: 7.4s 09:57:03 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
Limited to 48 grasps from 80 available (32 success, 16 failed)
✓ Validation complete: 49.3s : Successes 32, Fails 32 (16 total fails) , and 48 total grasps in ⏱️ 49.8s
[34/7500] (0.5%) Processing: /output/grasp_dataset_7500/grasp_data/piper/00f980c0932a42af9340b2b8ce2b7915.obj.1.0141891474155804.grasps.json
✓ Generated 64 success + 16 fail grasps in 0.1s (1 tries)
🔍 Validating 64 grasps with piper.usd, and creating USD file: /objects/raw/00f980c0932a42af9340b2b8ce2b7915.usd
🔄 Preparing Batch 1/4
======================================================================================
[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-26_09-57-07.log
======================================================================================
09:57:07 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
🔄 Batch 1/4: 20% Sim: 0.7s / Real: 2.2s 09:57:11 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Batch 1/4: 66% Sim: 2.3s / Real: 7.2s 09:57:16 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Preparing Batch 2/4
======================================================================================
[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-26_09-57-19.log
======================================================================================
09:57:19 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
🔄 Batch 2/4: 27% Sim: 0.9s / Real: 3.4s 09:57:24 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Batch 2/4: 66% Sim: 2.3s / Real: 8.4s 09:57:29 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Preparing Batch 3/4
======================================================================================
[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-26_09-57-33.log
======================================================================================
09:57:33 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
🔄 Batch 3/4: 28% Sim: 1.0s / Real: 3.9s 09:57:38 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Batch 3/4: 64% Sim: 2.3s / Real: 8.9s 09:57:43 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Preparing Batch 4/4
======================================================================================
[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-26_09-57-48.log
======================================================================================
09:57:48 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
🔄 Batch 4/4: 27% Sim: 1.0s / Real: 3.4s 09:57:52 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
🔄 Batch 4/4: 66% Sim: 2.3s / Real: 8.4s 09:57:57 [rigid_object.py] WARNING: The function 'set_external_force_and_torque' will be deprecated in a future release. Please use 'permanent_wrench_composer.set_forces_and_torques' instead.
Limited to 28 grasps from 80 available (12 success, 16 failed)
✓ Validation complete: 54.3s : Successes 12, Fails 52 (16 total fails) , and 28 total grasps in ⏱️ 54.4s
[35/7500] (0.5%) Processing: /output/grasp_dataset_7500/grasp_data/piper/00fd0618c93b4979b258f25df0109a6a.obj.0.261095645782849.grasps.json
✓ Generated 64 success + 16 fail grasps in 0.0s (1 tries)
🔍 Validating 64 grasps with piper.usd, and creating USD file: /objects/raw/00fd0618c93b4979b258f25df0109a6a.usd
🔄 Preparing Batch 1/4
Is the success rate of crawling generated from the logs trained with graspgen.by considered low? Is this success rate normal? （Successes 12, Fails 52 (16 total fails) , and 28 total grasps ）、（Successes 32, Fails 32 (16 total fails) , and 48 total grasps）、（Successes 14, Fails 50 (16 total fails) , and 30 total grasps ）. Do I need to use your -- fill_grass to fill up to the default 64?