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fridge_m chunked push | sim | count=150 threshold=150

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  1. fridge_m/sim_chunks/chunk_101/episode_00000010_exo_camera_1_batch_3_of_4_cam_rand.mp4 +3 -0
  2. fridge_m/sim_chunks/chunk_101/episode_00000010_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 +3 -0
  3. fridge_m/sim_chunks/chunk_101/episode_00000010_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 +3 -0
  4. fridge_m/sim_chunks/chunk_101/episode_00000010_wrist_camera_batch_3_of_4_cam_rand.mp4 +3 -0
  5. fridge_m/sim_chunks/chunk_101/episode_00000010_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 +3 -0
  6. fridge_m/sim_chunks/chunk_101/episode_00000010_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 +3 -0
  7. fridge_m/sim_chunks/chunk_101/episode_00000011_exo_camera_1_batch_2_of_4_cam_rand.mp4 +3 -0
  8. fridge_m/sim_chunks/chunk_101/episode_00000011_exo_camera_1_batch_3_of_4_cam_rand.mp4 +3 -0
  9. fridge_m/sim_chunks/chunk_101/episode_00000011_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 +3 -0
  10. fridge_m/sim_chunks/chunk_101/episode_00000011_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 +3 -0
  11. fridge_m/sim_chunks/chunk_101/episode_00000011_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 +3 -0
  12. fridge_m/sim_chunks/chunk_101/episode_00000011_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 +3 -0
  13. fridge_m/sim_chunks/chunk_101/episode_00000011_wrist_camera_batch_2_of_4_cam_rand.mp4 +3 -0
  14. fridge_m/sim_chunks/chunk_101/episode_00000011_wrist_camera_batch_3_of_4_cam_rand.mp4 +3 -0
  15. fridge_m/sim_chunks/chunk_101/episode_00000011_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 +3 -0
  16. fridge_m/sim_chunks/chunk_101/episode_00000011_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 +3 -0
  17. fridge_m/sim_chunks/chunk_101/episode_00000011_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 +3 -0
  18. fridge_m/sim_chunks/chunk_101/episode_00000011_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 +3 -0
  19. fridge_m/sim_chunks/chunk_101/episode_00000012_exo_camera_1_batch_2_of_4_cam_rand.mp4 +3 -0
  20. fridge_m/sim_chunks/chunk_101/episode_00000012_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 +3 -0
  21. fridge_m/sim_chunks/chunk_101/episode_00000012_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 +3 -0
  22. fridge_m/sim_chunks/chunk_101/episode_00000012_wrist_camera_batch_2_of_4_cam_rand.mp4 +3 -0
  23. fridge_m/sim_chunks/chunk_101/episode_00000012_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 +3 -0
  24. fridge_m/sim_chunks/chunk_101/episode_00000012_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 +3 -0
  25. fridge_m/sim_chunks/chunk_101/running_log.log +370 -0
  26. fridge_m/sim_chunks/chunk_101/trajectories_batch_2_of_4_cam_rand.h5 +2 -2
  27. fridge_m/sim_chunks/chunk_101/trajectories_batch_3_of_4_cam_rand.h5 +2 -2
  28. fridge_m/sim_chunks/chunk_102/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4 +3 -0
  29. fridge_m/sim_chunks/chunk_102/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4 +3 -0
  30. fridge_m/sim_chunks/chunk_102/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4 +3 -0
  31. fridge_m/sim_chunks/chunk_102/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4 +3 -0
  32. fridge_m/sim_chunks/chunk_102/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 +3 -0
  33. fridge_m/sim_chunks/chunk_102/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 +3 -0
  34. fridge_m/sim_chunks/chunk_102/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 +3 -0
  35. fridge_m/sim_chunks/chunk_102/episode_00000000_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 +3 -0
  36. fridge_m/sim_chunks/chunk_102/episode_00000000_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 +3 -0
  37. fridge_m/sim_chunks/chunk_102/episode_00000000_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 +3 -0
  38. fridge_m/sim_chunks/chunk_102/episode_00000000_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 +3 -0
  39. fridge_m/sim_chunks/chunk_102/episode_00000000_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 +3 -0
  40. fridge_m/sim_chunks/chunk_102/episode_00000000_wrist_camera_batch_1_of_4_cam_rand.mp4 +3 -0
  41. fridge_m/sim_chunks/chunk_102/episode_00000000_wrist_camera_batch_2_of_4_cam_rand.mp4 +3 -0
  42. fridge_m/sim_chunks/chunk_102/episode_00000000_wrist_camera_batch_3_of_4_cam_rand.mp4 +3 -0
  43. fridge_m/sim_chunks/chunk_102/episode_00000000_wrist_camera_batch_4_of_4_cam_rand.mp4 +3 -0
  44. fridge_m/sim_chunks/chunk_102/episode_00000000_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 +3 -0
  45. fridge_m/sim_chunks/chunk_102/episode_00000000_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 +3 -0
  46. fridge_m/sim_chunks/chunk_102/episode_00000000_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 +3 -0
  47. fridge_m/sim_chunks/chunk_102/episode_00000000_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 +3 -0
  48. fridge_m/sim_chunks/chunk_102/episode_00000000_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 +3 -0
  49. fridge_m/sim_chunks/chunk_102/episode_00000000_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 +3 -0
  50. fridge_m/sim_chunks/chunk_102/episode_00000000_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 +3 -0
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fridge_m/sim_chunks/chunk_101/running_log.log CHANGED
@@ -4579,3 +4579,373 @@
4579
  05/11 14:27:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
4580
  05/11 14:27:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
4581
  05/11 14:27:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
4579
  05/11 14:27:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
4580
  05/11 14:27:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
4581
  05/11 14:27:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
4582
+ 05/11 14:27:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
4583
+ 05/11 14:27:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
4584
+ 05/11 14:27:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
4585
+ 05/11 14:28:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494]
4586
+ 05/11 14:28:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494]
4587
+ 05/11 14:28:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494]
4588
+ 05/11 14:28:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494]
4589
+ 05/11 14:28:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494]
4590
+ 05/11 14:28:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494]
4591
+ 05/11 14:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494]
4592
+ 05/11 14:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494]
4593
+ 05/11 14:28:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496]
4594
+ 05/11 14:28:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466]
4595
+ 05/11 14:28:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179]
4596
+ 05/11 14:28:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388]
4597
+ 05/11 14:28:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465]
4598
+ 05/11 14:28:15 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.284s, found feasible grasp: True [grasp_sample.py: 500]
4599
+ 05/11 14:28:15 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.279[deg] [grasp_sample.py: 539]
4600
+ 05/11 14:28:17 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242]
4601
+ 05/11 14:28:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086]
4602
+ 05/11 14:28:18 INFO: [Worker 0] Scene setup completed.
4603
+ [pick_task_sampler.py: 260]
4604
+ 05/11 14:28:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63]
4605
+ 05/11 14:28:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
4606
+ 05/11 14:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
4607
+ 05/11 14:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
4608
+ 05/11 14:28:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
4609
+ 05/11 14:28:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078]
4610
+ 05/11 14:28:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178]
4611
+ 05/11 14:28:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187]
4612
+ 05/11 14:28:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m) [opening_task_samplers.py: 256]
4613
+ 05/11 14:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836]
4614
+ 05/11 14:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845]
4615
+ 05/11 14:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022570m [env.py: 870]
4616
+ 05/11 14:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871]
4617
+ 05/11 14:28:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777]
4618
+ 05/11 14:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907]
4619
+ 05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
4620
+ 05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
4621
+ 05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
4622
+ 05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
4623
+ 05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
4624
+ 05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99850716 0.90211416 0.02256953] yaw=-145.3deg [env.py: 1019]
4625
+ 05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029]
4626
+ 05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.72936331 0.36441778 0.02256953] yaw=163.6deg [env.py: 1019]
4627
+ 05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029]
4628
+ 05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.13261516 1.17079431 0.02256953] yaw=-132.4deg [env.py: 1019]
4629
+ 05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029]
4630
+ 05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068]
4631
+ 05/11 14:28:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=246.0ms, total=246.0ms [env.py: 1075]
4632
+ 05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.999, 0.902, 0.023) [env.py: 1079]
4633
+ 05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.3 deg [env.py: 1082]
4634
+ 05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m [env.py: 1086]
4635
+ 05/11 14:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
4636
+ 05/11 14:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
4637
+ 05/11 14:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
4638
+ 05/11 14:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
4639
+ 05/11 14:28:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136]
4640
+ 05/11 14:28:19 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044]
4641
+ 05/11 14:28:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377]
4642
+ 05/11 14:28:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179]
4643
+ 05/11 14:28:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388]
4644
+ 05/11 14:28:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465]
4645
+ 05/11 14:28:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.815s, found feasible grasp: True [grasp_sample.py: 500]
4646
+ 05/11 14:28:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.385[m] 84.884[deg] [grasp_sample.py: 539]
4647
+ 05/11 14:28:20 INFO: [Worker 0] Planning completed. w/ 3 steps
4648
+ [open_close_planner_policy.py: 225]
4649
+ 05/11 14:28:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
4650
+ 05/11 14:28:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
4651
+ 05/11 14:28:39 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108]
4652
+ 05/11 14:28:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
4653
+ 05/11 14:28:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
4654
+ 05/11 14:29:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
4655
+ 05/11 14:29:08 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174]
4656
+ 05/11 14:29:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes [pipeline.py: 238]
4657
+ 05/11 14:29:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278]
4658
+ 05/11 14:29:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
4659
+ 05/11 14:29:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785]
4660
+ 05/11 14:29:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.76s (batch: 3.60s, save: 11.16s) [pipeline.py: 300]
4661
+ 05/11 14:29:24 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.93s:
4662
+ episode_total: mean=91.41s, total=182.81s, count=2, min=4367.2ms, max=178445.7ms
4663
+ sensor_polling: mean=403.8ms, total=121.15s, count=300, min=323.0ms, max=832.1ms
4664
+ save_trajectories: mean=11.16s, total=11.16s, count=1, min=11162.1ms, max=11162.1ms
4665
+ physics_step: mean=26.1ms, total=7.82s, count=300, min=17.1ms, max=70.6ms
4666
+ save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3600.6ms, max=3600.6ms
4667
+ task_sampling: mean=466.0ms, total=932.0ms, count=2, min=367.3ms, max=564.7ms
4668
+ task_specific_sample: mean=462.6ms, total=925.2ms, count=2, min=364.2ms, max=560.9ms
4669
+ scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.1ms, max=2.4ms
4670
+ mj_forward_sync: mean=454.9us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
4671
+ policy_setup: mean=13.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
4672
+ scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380]
4673
+ 05/11 14:29:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086]
4674
+ 05/11 14:29:26 INFO: [Worker 0] Scene setup completed.
4675
+ [pick_task_sampler.py: 260]
4676
+ 05/11 14:29:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63]
4677
+ 05/11 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
4678
+ 05/11 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
4679
+ 05/11 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
4680
+ 05/11 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
4681
+ 05/11 14:29:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078]
4682
+ 05/11 14:29:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178]
4683
+ 05/11 14:29:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187]
4684
+ 05/11 14:29:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 256]
4685
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836]
4686
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845]
4687
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063352m [env.py: 870]
4688
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871]
4689
+ 05/11 14:29:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777]
4690
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907]
4691
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75347489 0.49887645 0.06335249] yaw=-189.9deg [env.py: 1019]
4692
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029]
4693
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
4694
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
4695
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
4696
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82436946 0.66565393 0.06335249] yaw=-174.4deg [env.py: 1019]
4697
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029]
4698
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.17307173 1.12108882 0.06335249] yaw=-121.6deg [env.py: 1019]
4699
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029]
4700
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068]
4701
+ 05/11 14:29:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=314.1ms, total=314.1ms [env.py: 1075]
4702
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.499, 0.063) [env.py: 1079]
4703
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.9 deg [env.py: 1082]
4704
+ 05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086]
4705
+ 05/11 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
4706
+ 05/11 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
4707
+ 05/11 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
4708
+ 05/11 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
4709
+ 05/11 14:29:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136]
4710
+ 05/11 14:29:26 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044]
4711
+ 05/11 14:29:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s [base_object_manipulation_planner_policy.py: 377]
4712
+ 05/11 14:29:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179]
4713
+ 05/11 14:29:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388]
4714
+ 05/11 14:29:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.153s, found 88 non-colliding grasps [grasp_sample.py: 465]
4715
+ 05/11 14:29:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.270s, found feasible grasp: True [grasp_sample.py: 500]
4716
+ 05/11 14:29:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.493[m] 87.428[deg] [grasp_sample.py: 539]
4717
+ 05/11 14:29:28 INFO: [Worker 0] Planning completed. w/ 3 steps
4718
+ [open_close_planner_policy.py: 225]
4719
+ 05/11 14:29:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
4720
+ 05/11 14:29:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
4721
+ 05/11 14:29:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309]
4722
+ 05/11 14:30:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
4723
+ 05/11 14:30:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
4724
+ 05/11 14:30:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
4725
+ 05/11 14:30:30 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108]
4726
+ 05/11 14:31:05 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174]
4727
+ 05/11 14:31:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes [pipeline.py: 238]
4728
+ 05/11 14:31:05 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278]
4729
+ 05/11 14:31:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
4730
+ 05/11 14:31:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785]
4731
+ 05/11 14:31:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 16.91s (batch: 4.35s, save: 12.56s) [pipeline.py: 300]
4732
+ 05/11 14:31:22 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.42s:
4733
+ episode_total: mean=155.83s, total=311.65s, count=2, min=128125.9ms, max=183528.5ms
4734
+ sensor_polling: mean=399.5ms, total=218.54s, count=547, min=316.1ms, max=817.3ms
4735
+ physics_step: mean=26.1ms, total=14.30s, count=547, min=21.5ms, max=79.6ms
4736
+ save_trajectories: mean=12.56s, total=12.56s, count=1, min=12556.2ms, max=12556.2ms
4737
+ save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4351.3ms, max=4351.3ms
4738
+ task_sampling: mean=709.5ms, total=1.42s, count=2, min=541.7ms, max=877.3ms
4739
+ task_specific_sample: mean=706.1ms, total=1.41s, count=2, min=538.7ms, max=873.6ms
4740
+ scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms
4741
+ mj_forward_sync: mean=464.2us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
4742
+ policy_setup: mean=14.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
4743
+ scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380]
4744
+ 05/11 14:31:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086]
4745
+ 05/11 14:31:23 INFO: [Worker 0] Scene setup completed.
4746
+ [pick_task_sampler.py: 260]
4747
+ 05/11 14:31:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63]
4748
+ 05/11 14:31:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
4749
+ 05/11 14:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
4750
+ 05/11 14:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
4751
+ 05/11 14:31:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
4752
+ 05/11 14:31:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078]
4753
+ 05/11 14:31:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178]
4754
+ 05/11 14:31:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187]
4755
+ 05/11 14:31:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) [opening_task_samplers.py: 256]
4756
+ 05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836]
4757
+ 05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845]
4758
+ 05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030734m [env.py: 870]
4759
+ 05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871]
4760
+ 05/11 14:31:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777]
4761
+ 05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907]
4762
+ 05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66584225 0.50674071 0.03073357] yaw=-188.3deg [env.py: 1019]
4763
+ 05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029]
4764
+ 05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
4765
+ 05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
4766
+ 05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
4767
+ 05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86225833 1.10217064 0.03073357] yaw=-150.4deg [env.py: 1019]
4768
+ 05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029]
4769
+ 05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.74361397 0.26431534 0.03073357] yaw=177.1deg [env.py: 1019]
4770
+ 05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029]
4771
+ 05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068]
4772
+ 05/11 14:31:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=339.1ms, total=339.2ms [env.py: 1075]
4773
+ 05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.666, 0.507, 0.031) [env.py: 1079]
4774
+ 05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.3 deg [env.py: 1082]
4775
+ 05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086]
4776
+ 05/11 14:31:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
4777
+ 05/11 14:31:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
4778
+ 05/11 14:31:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
4779
+ 05/11 14:31:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
4780
+ 05/11 14:31:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136]
4781
+ 05/11 14:31:24 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044]
4782
+ 05/11 14:31:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377]
4783
+ 05/11 14:31:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179]
4784
+ 05/11 14:31:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388]
4785
+ 05/11 14:31:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465]
4786
+ 05/11 14:31:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.767s, found feasible grasp: True [grasp_sample.py: 500]
4787
+ 05/11 14:31:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.609[m] 92.056[deg] [grasp_sample.py: 539]
4788
+ 05/11 14:31:25 INFO: [Worker 0] Planning completed. w/ 3 steps
4789
+ [open_close_planner_policy.py: 225]
4790
+ 05/11 14:31:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
4791
+ 05/11 14:31:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
4792
+ 05/11 14:31:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309]
4793
+ 05/11 14:31:46 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108]
4794
+ 05/11 14:32:14 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174]
4795
+ 05/11 14:32:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes [pipeline.py: 238]
4796
+ 05/11 14:32:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278]
4797
+ 05/11 14:32:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
4798
+ 05/11 14:32:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
4799
+ 05/11 14:32:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
4800
+ 05/11 14:32:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785]
4801
+ 05/11 14:32:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 17.31s (batch: 4.25s, save: 13.06s) [pipeline.py: 300]
4802
+ 05/11 14:32:32 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.65s:
4803
+ episode_total: mean=186.38s, total=186.38s, count=1, min=186380.6ms, max=186380.6ms
4804
+ sensor_polling: mean=413.4ms, total=124.03s, count=300, min=343.3ms, max=918.5ms
4805
+ save_trajectories: mean=13.06s, total=13.06s, count=1, min=13059.0ms, max=13059.0ms
4806
+ physics_step: mean=28.8ms, total=8.63s, count=300, min=19.6ms, max=94.9ms
4807
+ save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4251.7ms, max=4251.7ms
4808
+ task_sampling: mean=647.2ms, total=647.2ms, count=1, min=647.2ms, max=647.2ms
4809
+ task_specific_sample: mean=642.9ms, total=642.9ms, count=1, min=642.9ms, max=642.9ms
4810
+ scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
4811
+ mj_forward_sync: mean=571.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
4812
+ policy_setup: mean=28.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
4813
+ scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380]
4814
+ 05/11 14:32:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
4815
+ 05/11 14:32:33 WARNING: [Worker 0] No trajectory data to save for chunk_101 [pipeline.py: 234]
4816
+ 05/11 14:32:33 WARNING: [Worker 0] No trajectory data to save for chunk_101 [pipeline.py: 234]
4817
+ 05/11 14:32:33 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes [pipeline.py: 1323]
4818
+ 05/11 14:32:33 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5037.37s
4819
+ House averages:
4820
+ episode_total: mean=155.16s, total=2792.92s, count=18, min=3741.5ms, max=246747.1ms
4821
+ sensor_polling: mean=425.5ms, total=1886.18s, count=4433, min=313.2ms, max=1237.5ms
4822
+ save_trajectories: mean=12.48s, total=149.81s, count=12, min=11162.1ms, max=14402.5ms
4823
+ physics_step: mean=28.6ms, total=126.90s, count=4433, min=17.0ms, max=113.7ms
4824
+ save_batch_prep: mean=4.09s, total=49.13s, count=12, min=3456.7ms, max=4991.3ms
4825
+ task_sampling: mean=771.4ms, total=13.89s, count=18, min=367.3ms, max=3947.2ms
4826
+ task_specific_sample: mean=585.0ms, total=10.53s, count=18, min=364.2ms, max=829.5ms
4827
+ scene_load: mean=3.29s, total=3.29s, count=1, min=3287.2ms, max=3287.2ms
4828
+ scene_env_create: mean=1.88s, total=1.88s, count=1, min=1881.3ms, max=1881.3ms
4829
+ scene_compile: mean=1.21s, total=1.21s, count=1, min=1209.0ms, max=1209.0ms
4830
+ compile_mujoco: mean=712.3ms, total=712.3ms, count=1, min=712.3ms, max=712.3ms
4831
+ compile_xml_load: mean=316.8ms, total=316.8ms, count=1, min=316.8ms, max=316.8ms
4832
+ compile_aux_objects: mean=148.9ms, total=148.9ms, count=1, min=148.9ms, max=148.9ms
4833
+ compile_aux_policy_objects: mean=148.9ms, total=148.9ms, count=1, min=148.9ms, max=148.9ms
4834
+ scene_init: mean=142.5ms, total=142.5ms, count=1, min=142.5ms, max=142.5ms
4835
+ scene_asset_install: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms
4836
+ scene_randomize: mean=2.1ms, total=38.0ms, count=18, min=1.1ms, max=3.2ms
4837
+ asset_install_grasps: mean=37.0ms, total=37.0ms, count=1, min=37.0ms, max=37.0ms
4838
+ compile_robot_add: mean=22.3ms, total=22.3ms, count=1, min=22.3ms, max=22.3ms
4839
+ asset_install_objects: mean=12.4ms, total=12.4ms, count=1, min=12.4ms, max=12.4ms
4840
+ mj_forward_sync: mean=521.3us, total=9.4ms, count=18, min=0.5ms, max=0.7ms
4841
+ asset_install_scene: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms
4842
+ policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
4843
+ scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407]
4844
+ 05/11 14:32:33 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512]
4845
+ 05/11 14:32:33 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5037.37s
4846
+ Worker averages:
4847
+ episode_total: mean=155.16s, total=2792.92s, count=18, min=3741.5ms, max=246747.1ms
4848
+ sensor_polling: mean=425.5ms, total=1886.18s, count=4433, min=313.2ms, max=1237.5ms
4849
+ save_trajectories: mean=12.48s, total=149.81s, count=12, min=11162.1ms, max=14402.5ms
4850
+ physics_step: mean=28.6ms, total=126.90s, count=4433, min=17.0ms, max=113.7ms
4851
+ save_batch_prep: mean=4.09s, total=49.13s, count=12, min=3456.7ms, max=4991.3ms
4852
+ task_sampling: mean=771.4ms, total=13.89s, count=18, min=367.3ms, max=3947.2ms
4853
+ task_specific_sample: mean=585.0ms, total=10.53s, count=18, min=364.2ms, max=829.5ms
4854
+ scene_load: mean=3.29s, total=3.29s, count=1, min=3287.2ms, max=3287.2ms
4855
+ scene_env_create: mean=1.88s, total=1.88s, count=1, min=1881.3ms, max=1881.3ms
4856
+ scene_compile: mean=1.21s, total=1.21s, count=1, min=1209.0ms, max=1209.0ms
4857
+ compile_mujoco: mean=712.3ms, total=712.3ms, count=1, min=712.3ms, max=712.3ms
4858
+ compile_xml_load: mean=316.8ms, total=316.8ms, count=1, min=316.8ms, max=316.8ms
4859
+ compile_aux_objects: mean=148.9ms, total=148.9ms, count=1, min=148.9ms, max=148.9ms
4860
+ compile_aux_policy_objects: mean=148.9ms, total=148.9ms, count=1, min=148.9ms, max=148.9ms
4861
+ scene_init: mean=142.5ms, total=142.5ms, count=1, min=142.5ms, max=142.5ms
4862
+ scene_asset_install: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms
4863
+ scene_randomize: mean=2.1ms, total=38.0ms, count=18, min=1.1ms, max=3.2ms
4864
+ asset_install_grasps: mean=37.0ms, total=37.0ms, count=1, min=37.0ms, max=37.0ms
4865
+ compile_robot_add: mean=22.3ms, total=22.3ms, count=1, min=22.3ms, max=22.3ms
4866
+ asset_install_objects: mean=12.4ms, total=12.4ms, count=1, min=12.4ms, max=12.4ms
4867
+ mj_forward_sync: mean=521.3us, total=9.4ms, count=18, min=0.5ms, max=0.7ms
4868
+ asset_install_scene: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms
4869
+ policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
4870
+ scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429]
4871
+ 05/11 14:32:36 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488]
4872
+ 05/11 14:32:36 INFO: Success count: 12, Total count: 12 [pipeline.py: 1491]
4873
+ 05/11 14:32:36 INFO: Success rate: 100.00% [pipeline.py: 1492]
4874
+ 05/11 14:33:38 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108]
4875
+ 05/11 14:34:06 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174]
4876
+ 05/11 14:34:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes [pipeline.py: 238]
4877
+ 05/11 14:34:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278]
4878
+ 05/11 14:34:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
4879
+ 05/11 14:34:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785]
4880
+ 05/11 14:34:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.38s (batch: 3.27s, save: 11.11s) [pipeline.py: 300]
4881
+ 05/11 14:34:20 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.66s:
4882
+ episode_total: mean=176.95s, total=176.95s, count=1, min=176951.1ms, max=176951.1ms
4883
+ sensor_polling: mean=404.4ms, total=121.33s, count=300, min=340.2ms, max=753.6ms
4884
+ save_trajectories: mean=11.11s, total=11.11s, count=1, min=11108.0ms, max=11108.0ms
4885
+ physics_step: mean=27.7ms, total=8.31s, count=300, min=16.9ms, max=87.5ms
4886
+ save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3270.4ms, max=3270.4ms
4887
+ task_sampling: mean=663.8ms, total=663.8ms, count=1, min=663.8ms, max=663.8ms
4888
+ task_specific_sample: mean=660.0ms, total=660.0ms, count=1, min=660.0ms, max=660.0ms
4889
+ scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
4890
+ mj_forward_sync: mean=458.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
4891
+ policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
4892
+ scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380]
4893
+ 05/11 14:34:22 WARNING: [Worker 0] No trajectory data to save for chunk_101 [pipeline.py: 234]
4894
+ 05/11 14:34:22 WARNING: [Worker 0] No trajectory data to save for chunk_101 [pipeline.py: 234]
4895
+ 05/11 14:34:22 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes [pipeline.py: 1323]
4896
+ 05/11 14:34:22 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5219.77s
4897
+ House averages:
4898
+ episode_total: mean=161.28s, total=2903.07s, count=18, min=2551.9ms, max=237065.6ms
4899
+ sensor_polling: mean=419.2ms, total=1935.79s, count=4618, min=314.3ms, max=1386.8ms
4900
+ save_trajectories: mean=12.46s, total=162.02s, count=13, min=11108.0ms, max=15911.9ms
4901
+ physics_step: mean=28.1ms, total=129.76s, count=4618, min=15.4ms, max=155.8ms
4902
+ save_batch_prep: mean=4.24s, total=55.13s, count=13, min=3270.4ms, max=4809.0ms
4903
+ task_sampling: mean=791.8ms, total=14.25s, count=18, min=426.6ms, max=4430.3ms
4904
+ task_specific_sample: mean=570.6ms, total=10.27s, count=18, min=422.2ms, max=873.6ms
4905
+ scene_load: mean=3.90s, total=3.90s, count=1, min=3897.4ms, max=3897.4ms
4906
+ scene_env_create: mean=2.20s, total=2.20s, count=1, min=2204.0ms, max=2204.0ms
4907
+ scene_compile: mean=1.52s, total=1.52s, count=1, min=1515.6ms, max=1515.6ms
4908
+ compile_mujoco: mean=835.3ms, total=835.3ms, count=1, min=835.3ms, max=835.3ms
4909
+ compile_xml_load: mean=592.4ms, total=592.4ms, count=1, min=592.4ms, max=592.4ms
4910
+ scene_init: mean=119.3ms, total=119.3ms, count=1, min=119.3ms, max=119.3ms
4911
+ scene_asset_install: mean=58.2ms, total=58.2ms, count=1, min=58.2ms, max=58.2ms
4912
+ compile_aux_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms
4913
+ compile_aux_policy_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms
4914
+ scene_randomize: mean=2.6ms, total=46.2ms, count=18, min=1.1ms, max=6.2ms
4915
+ asset_install_grasps: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms
4916
+ compile_robot_add: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms
4917
+ asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
4918
+ mj_forward_sync: mean=534.4us, total=9.6ms, count=18, min=0.5ms, max=0.7ms
4919
+ asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
4920
+ policy_setup: mean=21.9us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
4921
+ scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407]
4922
+ 05/11 14:34:22 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512]
4923
+ 05/11 14:34:22 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5219.77s
4924
+ Worker averages:
4925
+ episode_total: mean=161.28s, total=2903.07s, count=18, min=2551.9ms, max=237065.6ms
4926
+ sensor_polling: mean=419.2ms, total=1935.79s, count=4618, min=314.3ms, max=1386.8ms
4927
+ save_trajectories: mean=12.46s, total=162.02s, count=13, min=11108.0ms, max=15911.9ms
4928
+ physics_step: mean=28.1ms, total=129.76s, count=4618, min=15.4ms, max=155.8ms
4929
+ save_batch_prep: mean=4.24s, total=55.13s, count=13, min=3270.4ms, max=4809.0ms
4930
+ task_sampling: mean=791.8ms, total=14.25s, count=18, min=426.6ms, max=4430.3ms
4931
+ task_specific_sample: mean=570.6ms, total=10.27s, count=18, min=422.2ms, max=873.6ms
4932
+ scene_load: mean=3.90s, total=3.90s, count=1, min=3897.4ms, max=3897.4ms
4933
+ scene_env_create: mean=2.20s, total=2.20s, count=1, min=2204.0ms, max=2204.0ms
4934
+ scene_compile: mean=1.52s, total=1.52s, count=1, min=1515.6ms, max=1515.6ms
4935
+ compile_mujoco: mean=835.3ms, total=835.3ms, count=1, min=835.3ms, max=835.3ms
4936
+ compile_xml_load: mean=592.4ms, total=592.4ms, count=1, min=592.4ms, max=592.4ms
4937
+ scene_init: mean=119.3ms, total=119.3ms, count=1, min=119.3ms, max=119.3ms
4938
+ scene_asset_install: mean=58.2ms, total=58.2ms, count=1, min=58.2ms, max=58.2ms
4939
+ compile_aux_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms
4940
+ compile_aux_policy_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms
4941
+ scene_randomize: mean=2.6ms, total=46.2ms, count=18, min=1.1ms, max=6.2ms
4942
+ asset_install_grasps: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms
4943
+ compile_robot_add: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms
4944
+ asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
4945
+ mj_forward_sync: mean=534.4us, total=9.6ms, count=18, min=0.5ms, max=0.7ms
4946
+ asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
4947
+ policy_setup: mean=21.9us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
4948
+ scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429]
4949
+ 05/11 14:34:25 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488]
4950
+ 05/11 14:34:25 INFO: Success count: 13, Total count: 13 [pipeline.py: 1491]
4951
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