fridge_m chunked push | sim | count=202 threshold=202

fridge_m/sim_chunks/chunk_102/episode_00000010_exo_camera_1_batch_1_of_4_cam_rand.mp4

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fridge_m/sim_chunks/chunk_102/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4

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fridge_m/sim_chunks/chunk_102/episode_00000010_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4

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fridge_m/sim_chunks/chunk_102/episode_00000010_wrist_camera_seg_batch_1_of_4_cam_rand.mp4

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fridge_m/sim_chunks/chunk_102/running_log.log

@@ -6174,3 +6174,163 @@
 	[open_close_planner_policy.py: 225]
 05/11 15:26:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
 05/11 15:26:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 15:26:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 15:26:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 15:26:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 15:26:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 15:26:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 15:26:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 15:27:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 15:27:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 15:27:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 15:27:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 15:27:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 15:27:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 15:27:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 15:27:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 15:27:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 15:27:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 15:27:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 15:27:40 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]
+05/11 15:27:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 15:27:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 15:27:40 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.587s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 15:27:40 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.242[deg]	[grasp_sample.py: 539]
+05/11 15:27:42 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 15:27:43 WARNING: [Worker 0] No trajectory data to save for chunk_102	[pipeline.py: 234]
+05/11 15:27:43 WARNING: [Worker 0] No trajectory data to save for chunk_102	[pipeline.py: 234]
+05/11 15:27:43 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes	[pipeline.py: 1323]
+05/11 15:27:43 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5518.24s
+  House averages:
+  episode_total: mean=170.73s, total=3073.22s, count=18, min=4651.8ms, max=244985.7ms
+  sensor_polling: mean=439.6ms, total=2061.33s, count=4689, min=314.8ms, max=1261.6ms
+  save_trajectories: mean=12.20s, total=146.44s, count=12, min=11062.0ms, max=15909.0ms
+  physics_step: mean=30.4ms, total=142.51s, count=4689, min=17.6ms, max=290.1ms
+  save_batch_prep: mean=4.41s, total=52.98s, count=12, min=3511.0ms, max=5477.4ms
+  task_sampling: mean=949.9ms, total=17.10s, count=18, min=492.4ms, max=6563.5ms
+  task_specific_sample: mean=631.7ms, total=11.37s, count=18, min=488.7ms, max=906.7ms
+  scene_load: mean=5.65s, total=5.65s, count=1, min=5654.2ms, max=5654.2ms
+  scene_env_create: mean=3.64s, total=3.64s, count=1, min=3643.9ms, max=3643.9ms
+  scene_compile: mean=1.69s, total=1.69s, count=1, min=1693.2ms, max=1693.2ms
+  compile_mujoco: mean=1.20s, total=1.20s, count=1, min=1200.1ms, max=1200.1ms
+  compile_xml_load: mean=390.5ms, total=390.5ms, count=1, min=390.5ms, max=390.5ms
+  scene_asset_install: mean=190.9ms, total=190.9ms, count=1, min=190.9ms, max=190.9ms
+  scene_init: mean=125.8ms, total=125.8ms, count=1, min=125.8ms, max=125.8ms
+  asset_install_objects: mean=118.1ms, total=118.1ms, count=1, min=118.1ms, max=118.1ms
+  asset_install_grasps: mean=68.7ms, total=68.7ms, count=1, min=68.7ms, max=68.7ms
+  compile_aux_objects: mean=60.6ms, total=60.6ms, count=1, min=60.6ms, max=60.6ms
+  compile_aux_policy_objects: mean=60.6ms, total=60.6ms, count=1, min=60.6ms, max=60.6ms
+  scene_randomize: mean=2.4ms, total=42.6ms, count=18, min=1.1ms, max=3.6ms
+  compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
+  mj_forward_sync: mean=565.3us, total=10.2ms, count=18, min=0.4ms, max=1.1ms
+  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
+  policy_setup: mean=20.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/11 15:27:43 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 15:27:43 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5518.24s
+  Worker averages:
+  episode_total: mean=170.73s, total=3073.22s, count=18, min=4651.8ms, max=244985.7ms
+  sensor_polling: mean=439.6ms, total=2061.33s, count=4689, min=314.8ms, max=1261.6ms
+  save_trajectories: mean=12.20s, total=146.44s, count=12, min=11062.0ms, max=15909.0ms
+  physics_step: mean=30.4ms, total=142.51s, count=4689, min=17.6ms, max=290.1ms
+  save_batch_prep: mean=4.41s, total=52.98s, count=12, min=3511.0ms, max=5477.4ms
+  task_sampling: mean=949.9ms, total=17.10s, count=18, min=492.4ms, max=6563.5ms
+  task_specific_sample: mean=631.7ms, total=11.37s, count=18, min=488.7ms, max=906.7ms
+  scene_load: mean=5.65s, total=5.65s, count=1, min=5654.2ms, max=5654.2ms
+  scene_env_create: mean=3.64s, total=3.64s, count=1, min=3643.9ms, max=3643.9ms
+  scene_compile: mean=1.69s, total=1.69s, count=1, min=1693.2ms, max=1693.2ms
+  compile_mujoco: mean=1.20s, total=1.20s, count=1, min=1200.1ms, max=1200.1ms
+  compile_xml_load: mean=390.5ms, total=390.5ms, count=1, min=390.5ms, max=390.5ms
+  scene_asset_install: mean=190.9ms, total=190.9ms, count=1, min=190.9ms, max=190.9ms
+  scene_init: mean=125.8ms, total=125.8ms, count=1, min=125.8ms, max=125.8ms
+  asset_install_objects: mean=118.1ms, total=118.1ms, count=1, min=118.1ms, max=118.1ms
+  asset_install_grasps: mean=68.7ms, total=68.7ms, count=1, min=68.7ms, max=68.7ms
+  compile_aux_objects: mean=60.6ms, total=60.6ms, count=1, min=60.6ms, max=60.6ms
+  compile_aux_policy_objects: mean=60.6ms, total=60.6ms, count=1, min=60.6ms, max=60.6ms
+  scene_randomize: mean=2.4ms, total=42.6ms, count=18, min=1.1ms, max=3.6ms
+  compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
+  mj_forward_sync: mean=565.3us, total=10.2ms, count=18, min=0.4ms, max=1.1ms
+  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
+  policy_setup: mean=20.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/11 15:27:46 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 15:27:46 INFO: Success count: 12, Total count: 13	[pipeline.py: 1491]
+05/11 15:27:46 INFO: Success rate: 92.31%	[pipeline.py: 1492]
+05/11 15:28:18 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 15:28:49 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_102	[pipeline.py: 1174]
+05/11 15:28:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 15:28:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 15:29:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 15:29:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102	[save_utils.py: 785]
+05/11 15:29:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 17.10s (batch: 3.88s, save: 13.22s)	[pipeline.py: 300]
+05/11 15:29:07 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.98s:
+  episode_total: mean=141.81s, total=283.63s, count=2, min=107521.0ms, max=176104.1ms
+  sensor_polling: mean=395.7ms, total=196.28s, count=496, min=305.0ms, max=814.7ms
+  physics_step: mean=27.4ms, total=13.62s, count=496, min=17.2ms, max=89.7ms
+  save_trajectories: mean=13.22s, total=13.22s, count=1, min=13222.2ms, max=13222.2ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3875.4ms, max=3875.4ms
+  task_sampling: mean=490.5ms, total=981.1ms, count=2, min=388.5ms, max=592.5ms
+  task_specific_sample: mean=486.6ms, total=973.2ms, count=2, min=385.5ms, max=587.7ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.1ms
+  mj_forward_sync: mean=547.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 15:29:09 WARNING: [Worker 0] No trajectory data to save for chunk_102	[pipeline.py: 234]
+05/11 15:29:09 WARNING: [Worker 0] No trajectory data to save for chunk_102	[pipeline.py: 234]
+05/11 15:29:09 INFO: [Worker 0] Worker 0 completed house 1: 11/13 successful episodes	[pipeline.py: 1323]
+05/11 15:29:09 INFO: [Worker 0] [PROFILE] House 1 complete: 11/13 successful, 13 episodes, total_time=5559.04s
+  House averages:
+  episode_total: mean=175.45s, total=3158.17s, count=18, min=4619.9ms, max=246414.3ms
+  sensor_polling: mean=437.6ms, total=2035.90s, count=4652, min=305.0ms, max=1143.1ms
+  physics_step: mean=30.0ms, total=139.66s, count=4652, min=16.1ms, max=155.2ms
+  save_trajectories: mean=12.59s, total=138.48s, count=11, min=11824.6ms, max=13920.0ms
+  save_batch_prep: mean=4.03s, total=44.29s, count=11, min=3578.5ms, max=4581.7ms
+  task_sampling: mean=969.5ms, total=17.45s, count=18, min=388.5ms, max=6588.4ms
+  task_specific_sample: mean=647.6ms, total=11.66s, count=18, min=385.5ms, max=891.6ms
+  scene_load: mean=5.71s, total=5.71s, count=1, min=5712.4ms, max=5712.4ms
+  scene_env_create: mean=3.69s, total=3.69s, count=1, min=3689.0ms, max=3689.0ms
+  scene_compile: mean=1.79s, total=1.79s, count=1, min=1789.1ms, max=1789.1ms
+  compile_mujoco: mean=1.19s, total=1.19s, count=1, min=1192.6ms, max=1192.6ms
+  compile_xml_load: mean=490.5ms, total=490.5ms, count=1, min=490.5ms, max=490.5ms
+  scene_init: mean=119.1ms, total=119.1ms, count=1, min=119.1ms, max=119.1ms
+  scene_asset_install: mean=114.9ms, total=114.9ms, count=1, min=114.9ms, max=114.9ms
+  asset_install_objects: mean=70.1ms, total=70.1ms, count=1, min=70.1ms, max=70.1ms
+  compile_aux_objects: mean=65.5ms, total=65.5ms, count=1, min=65.5ms, max=65.5ms
+  compile_aux_policy_objects: mean=65.5ms, total=65.5ms, count=1, min=65.5ms, max=65.5ms
+  scene_randomize: mean=2.7ms, total=48.4ms, count=18, min=1.1ms, max=6.2ms
+  asset_install_grasps: mean=38.8ms, total=38.8ms, count=1, min=38.8ms, max=38.8ms
+  compile_robot_add: mean=31.7ms, total=31.7ms, count=1, min=31.7ms, max=31.7ms
+  mj_forward_sync: mean=638.7us, total=11.5ms, count=18, min=0.5ms, max=2.2ms
+  asset_install_scene: mean=5.9ms, total=5.9ms, count=1, min=5.9ms, max=5.9ms
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+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/11 15:29:09 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 15:29:09 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5559.04s
+  Worker averages:
+  episode_total: mean=175.45s, total=3158.17s, count=18, min=4619.9ms, max=246414.3ms
+  sensor_polling: mean=437.6ms, total=2035.90s, count=4652, min=305.0ms, max=1143.1ms
+  physics_step: mean=30.0ms, total=139.66s, count=4652, min=16.1ms, max=155.2ms
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+  save_batch_prep: mean=4.03s, total=44.29s, count=11, min=3578.5ms, max=4581.7ms
+  task_sampling: mean=969.5ms, total=17.45s, count=18, min=388.5ms, max=6588.4ms
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+  asset_install_grasps: mean=38.8ms, total=38.8ms, count=1, min=38.8ms, max=38.8ms
+  compile_robot_add: mean=31.7ms, total=31.7ms, count=1, min=31.7ms, max=31.7ms
+  mj_forward_sync: mean=638.7us, total=11.5ms, count=18, min=0.5ms, max=2.2ms
+  asset_install_scene: mean=5.9ms, total=5.9ms, count=1, min=5.9ms, max=5.9ms
+  policy_setup: mean=21.4us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/11 15:29:11 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 15:29:11 INFO: Success count: 11, Total count: 13	[pipeline.py: 1491]
+05/11 15:29:11 INFO: Success rate: 84.62%	[pipeline.py: 1492]

fridge_m/sim_chunks/chunk_102/trajectories_batch_1_of_4_cam_rand.h5

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fridge_m/sim_chunks/chunk_103/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4

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fridge_m/sim_chunks/chunk_103/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4

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fridge_m/sim_chunks/chunk_103/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4

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fridge_m/sim_chunks/chunk_103/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4

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