sim update at 111 trajs (threshold 100)

fridge1_minimal_wall/episode_00000026_wrist_camera_batch_3_of_4_cam_rand.mp4

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fridge1_minimal_wall/episode_00000028_exo_camera_1_batch_1_of_4_cam_rand.mp4

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fridge1_minimal_wall/episode_00000028_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4

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fridge1_minimal_wall/episode_00000028_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4

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fridge1_minimal_wall/episode_00000028_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4

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fridge1_minimal_wall/running_log.log

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 05/09 21:27:03 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
 05/09 21:27:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
 05/09 21:27:03 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/09 21:27:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:27:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:27:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:27:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:27:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.51s (batch: 4.78s, save: 11.73s)	[pipeline.py: 300]
+05/09 21:27:21 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.56s:
+  episode_total: mean=220.56s, total=220.56s, count=1, min=220558.4ms, max=220558.4ms
+  sensor_polling: mean=535.9ms, total=158.08s, count=295, min=461.6ms, max=860.8ms
+  save_trajectories: mean=11.73s, total=11.73s, count=1, min=11727.3ms, max=11727.3ms
+  physics_step: mean=28.0ms, total=8.26s, count=295, min=17.0ms, max=121.5ms
+  save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4783.8ms, max=4783.8ms
+  task_sampling: mean=557.0ms, total=557.0ms, count=1, min=557.0ms, max=557.0ms
+  task_specific_sample: mean=552.8ms, total=552.8ms, count=1, min=552.8ms, max=552.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=425.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:27:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:27:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:27:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:27:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:27:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:27:22 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:27:22 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:27:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:27:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002114m	[env.py: 870]
+05/09 21:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:27:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91213523  0.45999245  0.00211442] yaw=-167.7deg	[env.py: 1019]
+05/09 21:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.18994481  1.1793265   0.00211442] yaw=-136.3deg	[env.py: 1019]
+05/09 21:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03021289  0.43305688  0.00211442] yaw=-177.2deg	[env.py: 1019]
+05/09 21:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:27:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=88.2ms, total=88.3ms	[env.py: 1075]
+05/09 21:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.912, 0.460, 0.002)	[env.py: 1079]
+05/09 21:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.7 deg	[env.py: 1082]
+05/09 21:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/09 21:27:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:27:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:27:23 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 21:27:23 INFO: [Worker 0] Worker 0 house 1 episode 31/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:27:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:27:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:27:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:27:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:27:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:27:23 INFO: [Worker 0] Feasible grasp found 344 (originally 150): w/ 0.514[m] 87.064[deg]	[grasp_sample.py: 539]
+05/09 21:27:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:27:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:27:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:27:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:27:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:27:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:28:14 INFO: [Worker 0] Worker 0 house 1 episode 29 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:28:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:28:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:28:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:28:35 INFO: [Worker 0] Worker 0 house 1 episode 29 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]

fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5

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