sim update at 400 trajs (threshold 400)

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fridge_7/chunk_009/running_log.log

@@ -4239,3 +4239,144 @@
 	[open_close_planner_policy.py: 225]
 05/10 22:13:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
 05/10 22:13:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:13:22 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 22:13:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 22:13:22 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
+05/10 22:13:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 22:13:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 22:13:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.13s (batch: 4.80s, save: 9.32s)	[pipeline.py: 300]
+05/10 22:13:37 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.40s:
+  episode_total: mean=199.85s, total=199.85s, count=1, min=199849.9ms, max=199849.9ms
+  sensor_polling: mean=523.6ms, total=150.79s, count=288, min=440.7ms, max=1207.3ms
+  save_trajectories: mean=9.32s, total=9.32s, count=1, min=9324.9ms, max=9324.9ms
+  physics_step: mean=26.2ms, total=7.54s, count=288, min=16.8ms, max=95.6ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4801.3ms, max=4801.3ms
+  task_sampling: mean=404.4ms, total=404.4ms, count=1, min=404.4ms, max=404.4ms
+  task_specific_sample: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=414.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.7us, 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]
+05/10 22:13:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 22:13:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 22:13:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 22:13:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:13:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:13:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 22:13:38 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]
+05/10 22:13:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 22:13:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 22:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 22:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 22:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073849m	[env.py: 870]
+05/10 22:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 22:13:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83199234  0.59684425  0.07384925] yaw=-180.8deg	[env.py: 1019]
+05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8241266   0.88641948  0.07384925] yaw=-153.9deg	[env.py: 1019]
+05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89175715  0.77975166  0.07384925] yaw=-150.3deg	[env.py: 1019]
+05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 22:13:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.8ms, total=157.8ms	[env.py: 1075]
+05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.832, 0.597, 0.074)	[env.py: 1079]
+05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.8 deg	[env.py: 1082]
+05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/10 22:13:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:13:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:13:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 22:13:39 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 22:13:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 22:13:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:13:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:13:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:13:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.455s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:13:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.425[m] 84.141[deg]	[grasp_sample.py: 539]
+05/10 22:13:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:13:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:13:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:13:49 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 22:14:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:14:11 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 22:14:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 22:14:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 22:14:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:14:17 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 22:14:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:14:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:14:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 22:14:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 22:14:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.32s (batch: 4.05s, save: 8.27s)	[pipeline.py: 300]
+05/10 22:14:24 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.40s:
+  episode_total: mean=196.44s, total=392.89s, count=2, min=188628.5ms, max=204258.3ms
+  sensor_polling: mean=519.6ms, total=305.01s, count=587, min=433.6ms, max=1162.5ms
+  physics_step: mean=25.3ms, total=14.84s, count=587, min=15.8ms, max=98.2ms
+  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8274.2ms, max=8274.2ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4046.3ms, max=4046.3ms
+  task_sampling: mean=698.4ms, total=1.40s, count=2, min=630.9ms, max=766.0ms
+  task_specific_sample: mean=694.7ms, total=1.39s, count=2, min=628.0ms, max=761.4ms
+  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.2ms, max=3.1ms
+  mj_forward_sync: mean=456.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=14.9us, 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]
+05/10 22:14:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 22:14:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 22:14:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 22:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:14:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 22:14:26 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]
+05/10 22:14:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 22:14:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068913m	[env.py: 870]
+05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 22:14:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66205625  0.28780424  0.06891308] yaw=180.0deg	[env.py: 1019]
+05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01441333  0.94633139  0.06891308] yaw=-152.6deg	[env.py: 1019]
+05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78197963  1.05650001  0.06891308] yaw=-153.8deg	[env.py: 1019]
+05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 22:14:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.1ms, total=80.1ms	[env.py: 1075]
+05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.288, 0.069)	[env.py: 1079]
+05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.0 deg	[env.py: 1082]
+05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
+05/10 22:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:14:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 22:14:26 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 22:14:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 22:14:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:14:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:14:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:14:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.626s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:14:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.672[m] 100.337[deg]	[grasp_sample.py: 539]
+05/10 22:14:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:14:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:14:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:14:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:14:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:14:41 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 22:14:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 22:14:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]

fridge_7/chunk_009/shard_1_of_4.log

@@ -1249,3 +1249,68 @@ ValueError: IK failed for pregrasp pose
 [05/10 22:11:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
 [05/10 22:12:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
 [05/10 22:12:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:13:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 22:14:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:14:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
+[05/10 22:14:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 22:14:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 22:14:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:14:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.32s (batch: 4.05s, save: 8.27s)
+[05/10 22:14:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=1.40s:
+  episode_total: mean=196.44s, total=392.89s, count=2, min=188628.5ms, max=204258.3ms
+  sensor_polling: mean=519.6ms, total=305.01s, count=587, min=433.6ms, max=1162.5ms
+  physics_step: mean=25.3ms, total=14.84s, count=587, min=15.8ms, max=98.2ms
+  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8274.2ms, max=8274.2ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4046.3ms, max=4046.3ms
+  task_sampling: mean=698.4ms, total=1.40s, count=2, min=630.9ms, max=766.0ms
+  task_specific_sample: mean=694.7ms, total=1.39s, count=2, min=628.0ms, max=761.4ms
+  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.2ms, max=3.1ms
+  mj_forward_sync: mean=456.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=14.9us, 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
+[05/10 22:14:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 22:14:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 22:14:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 22:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:14:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:14:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 22:14:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 22:14:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 22:14:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
+[05/10 22:14:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 22:14:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 22:14:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068913m
+[05/10 22:14:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 22:14:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 22:14:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 22:14:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66205625  0.28780424  0.06891308] yaw=180.0deg
+[05/10 22:14:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 22:14:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:14:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01441333  0.94633139  0.06891308] yaw=-152.6deg
+[05/10 22:14:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 22:14:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78197963  1.05650001  0.06891308] yaw=-153.8deg
+[05/10 22:14:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 22:14:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 22:14:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.1ms, total=80.1ms
+[05/10 22:14:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.288, 0.069)
+[05/10 22:14:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.0 deg
+[05/10 22:14:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.058m
+[05/10 22:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:14:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:14:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 22:14:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 22:14:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
+[05/10 22:14:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:14:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:14:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 22:14:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.626s, found feasible grasp: True
+[05/10 22:14:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.672[m] 100.337[deg]
+[05/10 22:14:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp

fridge_7/chunk_009/shard_2_of_4.log

@@ -1090,3 +1090,6 @@ DEBUG:h5py._conv:Creating converter from 5 to 3
 
 [05/10 22:13:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
 [05/10 22:13:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:14:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:14:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:14:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift

fridge_7/chunk_009/shard_3_of_4.log

@@ -1152,3 +1152,72 @@ ValueError: IK failed for pregrasp pose
 [05/10 22:11:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
 [05/10 22:11:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
 [05/10 22:13:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 22:13:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:13:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
+[05/10 22:13:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 289 timesteps
+[05/10 22:13:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 22:13:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:13:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 14.13s (batch: 4.80s, save: 9.32s)
+[05/10 22:13:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.40s:
+  episode_total: mean=199.85s, total=199.85s, count=1, min=199849.9ms, max=199849.9ms
+  sensor_polling: mean=523.6ms, total=150.79s, count=288, min=440.7ms, max=1207.3ms
+  save_trajectories: mean=9.32s, total=9.32s, count=1, min=9324.9ms, max=9324.9ms
+  physics_step: mean=26.2ms, total=7.54s, count=288, min=16.8ms, max=95.6ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4801.3ms, max=4801.3ms
+  task_sampling: mean=404.4ms, total=404.4ms, count=1, min=404.4ms, max=404.4ms
+  task_specific_sample: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=414.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.7us, 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
+[05/10 22:13:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 22:13:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 22:13:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 22:13:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:13:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:13:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:13:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:13:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 22:13:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 22:13:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 22:13:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
+[05/10 22:13:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 22:13:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 22:13:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073849m
+[05/10 22:13:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 22:13:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 22:13:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 22:13:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:13:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83199234  0.59684425  0.07384925] yaw=-180.8deg
+[05/10 22:13:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 22:13:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8241266   0.88641948  0.07384925] yaw=-153.9deg
+[05/10 22:13:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 22:13:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:13:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:13:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89175715  0.77975166  0.07384925] yaw=-150.3deg
+[05/10 22:13:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 22:13:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 22:13:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.8ms, total=157.8ms
+[05/10 22:13:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.832, 0.597, 0.074)
+[05/10 22:13:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.8 deg
+[05/10 22:13:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.878m
+[05/10 22:13:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:13:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:13:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:13:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:13:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 22:13:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 22:13:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
+[05/10 22:13:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:13:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:13:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 22:13:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.455s, found feasible grasp: True
+[05/10 22:13:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.425[m] 84.141[deg]
+[05/10 22:13:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:13:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:13:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:14:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:14:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:14:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift

fridge_7/chunk_009/shard_4_of_4.log

@@ -1195,3 +1195,7 @@ ValueError: IK failed for pregrasp pose
 [05/10 22:12:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
 [05/10 22:12:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
 [05/10 22:12:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:14:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 22:14:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:14:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
+[05/10 22:14:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps