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sim update at 122 trajs (threshold 100)

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Files changed (11) hide show
  1. fridge1_minimal_wall/episode_00000030_exo_camera_1_batch_4_of_4_cam_rand.mp4 +3 -0
  2. fridge1_minimal_wall/episode_00000030_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 +3 -0
  3. fridge1_minimal_wall/episode_00000030_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 +3 -0
  4. fridge1_minimal_wall/episode_00000030_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 +3 -0
  5. fridge1_minimal_wall/episode_00000031_exo_camera_1_batch_1_of_4_cam_rand.mp4 +3 -0
  6. fridge1_minimal_wall/episode_00000031_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 +3 -0
  7. fridge1_minimal_wall/episode_00000031_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 +3 -0
  8. fridge1_minimal_wall/episode_00000031_wrist_camera_batch_1_of_4_cam_rand.mp4 +3 -0
  9. fridge1_minimal_wall/episode_00000031_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 +3 -0
  10. fridge1_minimal_wall/episode_00000031_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 +3 -0
  11. fridge1_minimal_wall/running_log.log +77 -0
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fridge1_minimal_wall/running_log.log CHANGED
@@ -10345,3 +10345,80 @@
10345
  05/09 21:36:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
10346
  05/09 21:36:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
10347
  05/09 21:36:37 INFO: [Worker 0] Worker 0 house 1 episode 31 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
10345
  05/09 21:36:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
10346
  05/09 21:36:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
10347
  05/09 21:36:37 INFO: [Worker 0] Worker 0 house 1 episode 31 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108]
10348
+ 05/09 21:37:02 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174]
10349
+ 05/09 21:37:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes [pipeline.py: 238]
10350
+ 05/09 21:37:02 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278]
10351
+ 05/09 21:37:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
10352
+ 05/09 21:37:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
10353
+ 05/09 21:37:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785]
10354
+ 05/09 21:37:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.66s (batch: 4.37s, save: 8.29s) [pipeline.py: 300]
10355
+ 05/09 21:37:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
10356
+ 05/09 21:37:16 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.49s:
10357
+ episode_total: mean=206.17s, total=206.17s, count=1, min=206174.5ms, max=206174.5ms
10358
+ sensor_polling: mean=546.1ms, total=153.99s, count=282, min=457.1ms, max=994.3ms
10359
+ physics_step: mean=30.0ms, total=8.47s, count=282, min=17.1ms, max=118.0ms
10360
+ save_trajectories: mean=8.29s, total=8.29s, count=1, min=8289.4ms, max=8289.4ms
10361
+ save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4366.5ms, max=4366.5ms
10362
+ task_sampling: mean=494.0ms, total=494.0ms, count=1, min=494.0ms, max=494.0ms
10363
+ task_specific_sample: mean=490.1ms, total=490.1ms, count=1, min=490.1ms, max=490.1ms
10364
+ scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
10365
+ mj_forward_sync: mean=439.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
10366
+ policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
10367
+ scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380]
10368
+ 05/09 21:37:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086]
10369
+ 05/09 21:37:18 INFO: [Worker 0] Scene setup completed.
10370
+ [pick_task_sampler.py: 260]
10371
+ 05/09 21:37:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63]
10372
+ 05/09 21:37:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
10373
+ 05/09 21:37:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
10374
+ 05/09 21:37:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
10375
+ 05/09 21:37:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
10376
+ 05/09 21:37:18 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093]
10377
+ 05/09 21:37:18 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]
10378
+ 05/09 21:37:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187]
10379
+ 05/09 21:37:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m) [opening_task_samplers.py: 256]
10380
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836]
10381
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845]
10382
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014426m [env.py: 870]
10383
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871]
10384
+ 05/09 21:37:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777]
10385
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907]
10386
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07070845 0.21923052 0.01442632] yaw=154.1deg [env.py: 1019]
10387
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029]
10388
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
10389
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
10390
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
10391
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93987826 0.92598868 0.01442632] yaw=-152.9deg [env.py: 1019]
10392
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029]
10393
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.1229012 0.8522092 0.01442632] yaw=-141.6deg [env.py: 1019]
10394
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029]
10395
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068]
10396
+ 05/09 21:37:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.9ms, total=151.9ms [env.py: 1075]
10397
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.071, 0.219, 0.014) [env.py: 1079]
10398
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.1 deg [env.py: 1082]
10399
+ 05/09 21:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.762m [env.py: 1086]
10400
+ 05/09 21:37:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
10401
+ 05/09 21:37:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
10402
+ 05/09 21:37:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
10403
+ 05/09 21:37:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
10404
+ 05/09 21:37:18 INFO: [Worker 0] Sampled task 'Open the white goods' [task_sampler.py: 1136]
10405
+ 05/09 21:37:18 INFO: [Worker 0] Worker 0 house 1 episode 32/60 collected=0/10 [pipeline.py: 1044]
10406
+ 05/09 21:37:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377]
10407
+ 05/09 21:37:18 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]
10408
+ 05/09 21:37:18 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388]
10409
+ 05/09 21:37:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 388 non-colliding grasps [grasp_sample.py: 465]
10410
+ 05/09 21:37:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.495s, found feasible grasp: True [grasp_sample.py: 500]
10411
+ 05/09 21:37:19 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.415[m] 90.079[deg] [grasp_sample.py: 539]
10412
+ 05/09 21:37:19 INFO: [Worker 0] Planning completed. w/ 3 steps
10413
+ [open_close_planner_policy.py: 225]
10414
+ 05/09 21:37:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
10415
+ 05/09 21:37:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
10416
+ 05/09 21:37:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
10417
+ 05/09 21:37:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
10418
+ 05/09 21:37:29 INFO: [Worker 0] Worker 0 house 1 episode 33 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108]
10419
+ 05/09 21:37:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
10420
+ 05/09 21:37:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
10421
+ 05/09 21:37:54 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174]
10422
+ 05/09 21:37:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes [pipeline.py: 238]
10423
+ 05/09 21:37:54 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278]
10424
+ 05/09 21:38:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]