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sim update at 107 trajs (threshold 100)

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Files changed (29) hide show
  1. fridge1_minimal_wall/episode_00000024_exo_camera_1_batch_3_of_4_cam_rand.mp4 +3 -0
  2. fridge1_minimal_wall/episode_00000024_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 +3 -0
  3. fridge1_minimal_wall/episode_00000024_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 +3 -0
  4. fridge1_minimal_wall/episode_00000024_wrist_camera_batch_3_of_4_cam_rand.mp4 +3 -0
  5. fridge1_minimal_wall/episode_00000024_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 +3 -0
  6. fridge1_minimal_wall/episode_00000024_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 +3 -0
  7. fridge1_minimal_wall/episode_00000026_exo_camera_1_batch_2_of_4_cam_rand.mp4 +3 -0
  8. fridge1_minimal_wall/episode_00000026_exo_camera_1_batch_4_of_4_cam_rand.mp4 +3 -0
  9. fridge1_minimal_wall/episode_00000026_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 +3 -0
  10. fridge1_minimal_wall/episode_00000026_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 +3 -0
  11. fridge1_minimal_wall/episode_00000026_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 +3 -0
  12. fridge1_minimal_wall/episode_00000026_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 +3 -0
  13. fridge1_minimal_wall/episode_00000026_wrist_camera_batch_2_of_4_cam_rand.mp4 +3 -0
  14. fridge1_minimal_wall/episode_00000026_wrist_camera_batch_4_of_4_cam_rand.mp4 +3 -0
  15. fridge1_minimal_wall/episode_00000026_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 +3 -0
  16. fridge1_minimal_wall/episode_00000026_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 +3 -0
  17. fridge1_minimal_wall/episode_00000026_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 +3 -0
  18. fridge1_minimal_wall/episode_00000026_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 +3 -0
  19. fridge1_minimal_wall/episode_00000027_exo_camera_1_batch_1_of_4_cam_rand.mp4 +3 -0
  20. fridge1_minimal_wall/episode_00000027_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 +3 -0
  21. fridge1_minimal_wall/episode_00000027_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 +3 -0
  22. fridge1_minimal_wall/episode_00000027_wrist_camera_batch_1_of_4_cam_rand.mp4 +3 -0
  23. fridge1_minimal_wall/episode_00000027_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 +3 -0
  24. fridge1_minimal_wall/episode_00000027_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 +3 -0
  25. fridge1_minimal_wall/running_log.log +276 -0
  26. fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5 +2 -2
  27. fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5 +2 -2
  28. fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5 +2 -2
  29. fridge1_minimal_wall/trajectories_batch_4_of_4_cam_rand.h5 +2 -2
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fridge1_minimal_wall/running_log.log CHANGED
@@ -9092,3 +9092,279 @@
9092
  05/09 21:20:56 INFO: [Worker 0] Worker 0 house 1 episode 27 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108]
9093
  05/09 21:21:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
9094
  05/09 21:21:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
9092
  05/09 21:20:56 INFO: [Worker 0] Worker 0 house 1 episode 27 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108]
9093
  05/09 21:21:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
9094
  05/09 21:21:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
9095
+ 05/09 21:21:16 INFO: [Worker 0] Worker 0 house 1 episode 27 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108]
9096
+ 05/09 21:21:20 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174]
9097
+ 05/09 21:21:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes [pipeline.py: 238]
9098
+ 05/09 21:21:20 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278]
9099
+ 05/09 21:21:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
9100
+ 05/09 21:21:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785]
9101
+ 05/09 21:21:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.82s (batch: 4.48s, save: 9.33s) [pipeline.py: 300]
9102
+ 05/09 21:21:34 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.83s:
9103
+ episode_total: mean=197.30s, total=394.61s, count=2, min=178707.6ms, max=215899.6ms
9104
+ sensor_polling: mean=551.5ms, total=312.13s, count=566, min=446.8ms, max=1043.8ms
9105
+ physics_step: mean=30.8ms, total=17.44s, count=566, min=16.8ms, max=131.1ms
9106
+ save_trajectories: mean=9.33s, total=9.33s, count=1, min=9330.9ms, max=9330.9ms
9107
+ save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4484.7ms, max=4484.7ms
9108
+ task_sampling: mean=415.7ms, total=831.4ms, count=2, min=412.1ms, max=419.3ms
9109
+ task_specific_sample: mean=412.0ms, total=824.0ms, count=2, min=407.9ms, max=416.1ms
9110
+ scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.3ms, max=2.8ms
9111
+ mj_forward_sync: mean=463.7us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
9112
+ policy_setup: mean=16.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
9113
+ scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380]
9114
+ 05/09 21:21:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086]
9115
+ 05/09 21:21:36 INFO: [Worker 0] Scene setup completed.
9116
+ [pick_task_sampler.py: 260]
9117
+ 05/09 21:21:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63]
9118
+ 05/09 21:21:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9119
+ 05/09 21:21:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9120
+ 05/09 21:21:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9121
+ 05/09 21:21:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9122
+ 05/09 21:21:36 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093]
9123
+ 05/09 21:21:36 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]
9124
+ 05/09 21:21:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187]
9125
+ 05/09 21:21:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m) [opening_task_samplers.py: 256]
9126
+ 05/09 21:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836]
9127
+ 05/09 21:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845]
9128
+ 05/09 21:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026439m [env.py: 870]
9129
+ 05/09 21:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871]
9130
+ 05/09 21:21:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777]
9131
+ 05/09 21:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907]
9132
+ 05/09 21:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9133
+ 05/09 21:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92656945 0.86185271 -0.02643897] yaw=-158.0deg [env.py: 1019]
9134
+ 05/09 21:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029]
9135
+ 05/09 21:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9136
+ 05/09 21:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15998334 0.14140391 -0.02643897] yaw=162.7deg [env.py: 1019]
9137
+ 05/09 21:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029]
9138
+ 05/09 21:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9139
+ 05/09 21:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068]
9140
+ 05/09 21:21:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.9ms, total=184.0ms [env.py: 1075]
9141
+ 05/09 21:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.862, -0.026) [env.py: 1079]
9142
+ 05/09 21:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.0 deg [env.py: 1082]
9143
+ 05/09 21:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086]
9144
+ 05/09 21:21:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9145
+ 05/09 21:21:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9146
+ 05/09 21:21:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9147
+ 05/09 21:21:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9148
+ 05/09 21:21:36 INFO: [Worker 0] Sampled task 'Open the two-door white fridge' [task_sampler.py: 1136]
9149
+ 05/09 21:21:36 INFO: [Worker 0] Worker 0 house 1 episode 28/60 collected=0/10 [pipeline.py: 1044]
9150
+ 05/09 21:21:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377]
9151
+ 05/09 21:21:37 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]
9152
+ 05/09 21:21:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388]
9153
+ 05/09 21:21:37 INFO: [Worker 0] Collision-checked 388 grasps in 0.076s, found 388 non-colliding grasps [grasp_sample.py: 465]
9154
+ 05/09 21:21:38 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174]
9155
+ 05/09 21:21:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes [pipeline.py: 238]
9156
+ 05/09 21:21:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278]
9157
+ 05/09 21:21:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.690s, found feasible grasp: True [grasp_sample.py: 500]
9158
+ 05/09 21:21:38 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.580[m] 77.641[deg] [grasp_sample.py: 539]
9159
+ 05/09 21:21:38 INFO: [Worker 0] Planning completed. w/ 3 steps
9160
+ [open_close_planner_policy.py: 225]
9161
+ 05/09 21:21:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
9162
+ 05/09 21:21:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
9163
+ 05/09 21:21:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
9164
+ 05/09 21:21:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785]
9165
+ 05/09 21:21:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.18s (batch: 4.40s, save: 10.78s) [pipeline.py: 300]
9166
+ 05/09 21:21:54 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.45s:
9167
+ episode_total: mean=221.94s, total=221.94s, count=1, min=221935.8ms, max=221935.8ms
9168
+ sensor_polling: mean=559.9ms, total=167.97s, count=300, min=466.9ms, max=1203.2ms
9169
+ save_trajectories: mean=10.78s, total=10.78s, count=1, min=10783.3ms, max=10783.3ms
9170
+ physics_step: mean=28.8ms, total=8.65s, count=300, min=16.2ms, max=130.7ms
9171
+ save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4397.2ms, max=4397.2ms
9172
+ task_sampling: mean=450.7ms, total=450.7ms, count=1, min=450.7ms, max=450.7ms
9173
+ task_specific_sample: mean=446.5ms, total=446.5ms, count=1, min=446.5ms, max=446.5ms
9174
+ scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
9175
+ mj_forward_sync: mean=495.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
9176
+ policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
9177
+ scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380]
9178
+ 05/09 21:21:55 INFO: [Worker 0] Worker 0 house 1 episode 27 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108]
9179
+ 05/09 21:21:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086]
9180
+ 05/09 21:21:56 INFO: [Worker 0] Scene setup completed.
9181
+ [pick_task_sampler.py: 260]
9182
+ 05/09 21:21:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63]
9183
+ 05/09 21:21:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9184
+ 05/09 21:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9185
+ 05/09 21:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9186
+ 05/09 21:21:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9187
+ 05/09 21:21:56 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093]
9188
+ 05/09 21:21:56 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]
9189
+ 05/09 21:21:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187]
9190
+ 05/09 21:21:56 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]
9191
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836]
9192
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845]
9193
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013808m [env.py: 870]
9194
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871]
9195
+ 05/09 21:21:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777]
9196
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907]
9197
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02785805 0.97652416 0.01380837] yaw=-142.3deg [env.py: 1019]
9198
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029]
9199
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9200
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9201
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9202
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07513343 0.79418901 0.01380837] yaw=-144.7deg [env.py: 1019]
9203
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029]
9204
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98625157 0.50278911 0.01380837] yaw=-165.5deg [env.py: 1019]
9205
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029]
9206
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068]
9207
+ 05/09 21:21:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.5ms, total=158.5ms [env.py: 1075]
9208
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.028, 0.977, 0.014) [env.py: 1079]
9209
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.3 deg [env.py: 1082]
9210
+ 05/09 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m [env.py: 1086]
9211
+ 05/09 21:21:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9212
+ 05/09 21:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9213
+ 05/09 21:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9214
+ 05/09 21:21:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9215
+ 05/09 21:21:56 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim' [task_sampler.py: 1136]
9216
+ 05/09 21:21:56 INFO: [Worker 0] Worker 0 house 1 episode 28/60 collected=0/10 [pipeline.py: 1044]
9217
+ 05/09 21:21:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377]
9218
+ 05/09 21:21:56 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]
9219
+ 05/09 21:21:56 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388]
9220
+ 05/09 21:21:56 INFO: [Worker 0] Collision-checked 388 grasps in 0.076s, found 388 non-colliding grasps [grasp_sample.py: 465]
9221
+ 05/09 21:21:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.866s, found feasible grasp: True [grasp_sample.py: 500]
9222
+ 05/09 21:21:58 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.502[m] 81.819[deg] [grasp_sample.py: 539]
9223
+ 05/09 21:21:58 INFO: [Worker 0] Planning completed. w/ 3 steps
9224
+ [open_close_planner_policy.py: 225]
9225
+ 05/09 21:21:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
9226
+ 05/09 21:21:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
9227
+ 05/09 21:22:25 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174]
9228
+ 05/09 21:22:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes [pipeline.py: 238]
9229
+ 05/09 21:22:25 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278]
9230
+ 05/09 21:22:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
9231
+ 05/09 21:22:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785]
9232
+ 05/09 21:22:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.98s (batch: 4.94s, save: 13.04s) [pipeline.py: 300]
9233
+ 05/09 21:22:44 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=1.12s:
9234
+ episode_total: mean=228.81s, total=228.81s, count=1, min=228807.2ms, max=228807.2ms
9235
+ sensor_polling: mean=539.7ms, total=161.90s, count=300, min=455.6ms, max=1108.0ms
9236
+ save_trajectories: mean=13.04s, total=13.04s, count=1, min=13036.3ms, max=13036.3ms
9237
+ physics_step: mean=27.1ms, total=8.12s, count=300, min=19.6ms, max=147.4ms
9238
+ save_batch_prep: mean=4.94s, total=4.94s, count=1, min=4939.1ms, max=4939.1ms
9239
+ task_sampling: mean=1.12s, total=1.12s, count=1, min=1119.2ms, max=1119.2ms
9240
+ task_specific_sample: mean=1.11s, total=1.11s, count=1, min=1114.9ms, max=1114.9ms
9241
+ scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
9242
+ mj_forward_sync: mean=534.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
9243
+ policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
9244
+ scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380]
9245
+ 05/09 21:22:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
9246
+ 05/09 21:22:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086]
9247
+ 05/09 21:22:46 INFO: [Worker 0] Scene setup completed.
9248
+ [pick_task_sampler.py: 260]
9249
+ 05/09 21:22:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63]
9250
+ 05/09 21:22:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9251
+ 05/09 21:22:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9252
+ 05/09 21:22:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9253
+ 05/09 21:22:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9254
+ 05/09 21:22:46 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093]
9255
+ 05/09 21:22:46 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]
9256
+ 05/09 21:22:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187]
9257
+ 05/09 21:22:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m) [opening_task_samplers.py: 256]
9258
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836]
9259
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845]
9260
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031070m [env.py: 870]
9261
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871]
9262
+ 05/09 21:22:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777]
9263
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907]
9264
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9265
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06286955 0.44621545 -0.03106967] yaw=-173.3deg [env.py: 1019]
9266
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029]
9267
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9268
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9269
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9270
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88721012 0.04314926 -0.03106967] yaw=149.9deg [env.py: 1019]
9271
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029]
9272
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.06316096 0.77934292 -0.03106967] yaw=-156.7deg [env.py: 1019]
9273
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029]
9274
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068]
9275
+ 05/09 21:22:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=281.8ms, total=281.8ms [env.py: 1075]
9276
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.063, 0.446, -0.031) [env.py: 1079]
9277
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.3 deg [env.py: 1082]
9278
+ 05/09 21:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.742m [env.py: 1086]
9279
+ 05/09 21:22:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9280
+ 05/09 21:22:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9281
+ 05/09 21:22:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9282
+ 05/09 21:22:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9283
+ 05/09 21:22:47 INFO: [Worker 0] Sampled task 'Open the refrigerator' [task_sampler.py: 1136]
9284
+ 05/09 21:22:47 INFO: [Worker 0] Worker 0 house 1 episode 28/60 collected=0/10 [pipeline.py: 1044]
9285
+ 05/09 21:22:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377]
9286
+ 05/09 21:22:47 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]
9287
+ 05/09 21:22:47 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388]
9288
+ 05/09 21:22:47 INFO: [Worker 0] Collision-checked 388 grasps in 0.136s, found 388 non-colliding grasps [grasp_sample.py: 465]
9289
+ 05/09 21:22:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.136s, found feasible grasp: True [grasp_sample.py: 500]
9290
+ 05/09 21:22:48 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.427[m] 90.499[deg] [grasp_sample.py: 539]
9291
+ 05/09 21:22:48 INFO: [Worker 0] Planning completed. w/ 3 steps
9292
+ [open_close_planner_policy.py: 225]
9293
+ 05/09 21:22:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
9294
+ 05/09 21:22:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
9295
+ 05/09 21:22:54 INFO: [Worker 0] Worker 0 house 1 episode 29 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108]
9296
+ 05/09 21:22:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
9297
+ 05/09 21:22:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
9298
+ 05/09 21:23:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
9299
+ 05/09 21:23:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
9300
+ 05/09 21:23:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
9301
+ 05/09 21:23:21 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174]
9302
+ 05/09 21:23:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes [pipeline.py: 238]
9303
+ 05/09 21:23:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278]
9304
+ 05/09 21:23:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
9305
+ 05/09 21:23:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785]
9306
+ 05/09 21:23:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.84s (batch: 5.83s, save: 11.01s) [pipeline.py: 300]
9307
+ 05/09 21:23:38 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.89s:
9308
+ episode_total: mean=115.02s, total=230.03s, count=2, min=3045.7ms, max=226984.3ms
9309
+ sensor_polling: mean=543.7ms, total=163.11s, count=300, min=457.5ms, max=897.1ms
9310
+ save_trajectories: mean=11.01s, total=11.01s, count=1, min=11012.0ms, max=11012.0ms
9311
+ physics_step: mean=32.2ms, total=9.65s, count=300, min=19.1ms, max=270.3ms
9312
+ save_batch_prep: mean=5.83s, total=5.83s, count=1, min=5828.5ms, max=5828.5ms
9313
+ task_sampling: mean=445.9ms, total=891.8ms, count=2, min=427.3ms, max=464.5ms
9314
+ task_specific_sample: mean=442.1ms, total=884.2ms, count=2, min=423.0ms, max=461.2ms
9315
+ scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
9316
+ mj_forward_sync: mean=492.7us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
9317
+ policy_setup: mean=17.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
9318
+ scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380]
9319
+ 05/09 21:23:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086]
9320
+ 05/09 21:23:40 INFO: [Worker 0] Scene setup completed.
9321
+ [pick_task_sampler.py: 260]
9322
+ 05/09 21:23:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63]
9323
+ 05/09 21:23:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9324
+ 05/09 21:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9325
+ 05/09 21:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9326
+ 05/09 21:23:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9327
+ 05/09 21:23:40 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093]
9328
+ 05/09 21:23:40 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]
9329
+ 05/09 21:23:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187]
9330
+ 05/09 21:23:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m) [opening_task_samplers.py: 256]
9331
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836]
9332
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845]
9333
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009945m [env.py: 870]
9334
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871]
9335
+ 05/09 21:23:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777]
9336
+ 05/09 21:23:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
9337
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907]
9338
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9339
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98908153 0.33496227 0.00994547] yaw=165.8deg [env.py: 1019]
9340
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029]
9341
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9342
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9343
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9344
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11470315 0.83182837 0.00994547] yaw=-138.8deg [env.py: 1019]
9345
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029]
9346
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.24689969 0.93411158 0.00994547] yaw=-143.0deg [env.py: 1019]
9347
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029]
9348
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068]
9349
+ 05/09 21:23:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=237.1ms, total=237.1ms [env.py: 1075]
9350
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.989, 0.335, 0.010) [env.py: 1079]
9351
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg [env.py: 1082]
9352
+ 05/09 21:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m [env.py: 1086]
9353
+ 05/09 21:23:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9354
+ 05/09 21:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9355
+ 05/09 21:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9356
+ 05/09 21:23:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9357
+ 05/09 21:23:41 INFO: [Worker 0] Sampled task 'Open the white fridge' [task_sampler.py: 1136]
9358
+ 05/09 21:23:41 INFO: [Worker 0] Worker 0 house 1 episode 30/60 collected=0/10 [pipeline.py: 1044]
9359
+ 05/09 21:23:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377]
9360
+ 05/09 21:23:41 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]
9361
+ 05/09 21:23:41 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388]
9362
+ 05/09 21:23:41 INFO: [Worker 0] Collision-checked 388 grasps in 0.104s, found 388 non-colliding grasps [grasp_sample.py: 465]
9363
+ 05/09 21:23:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.587s, found feasible grasp: True [grasp_sample.py: 500]
9364
+ 05/09 21:23:41 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.490[m] 91.790[deg] [grasp_sample.py: 539]
9365
+ 05/09 21:23:41 INFO: [Worker 0] Planning completed. w/ 3 steps
9366
+ [open_close_planner_policy.py: 225]
9367
+ 05/09 21:23:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
9368
+ 05/09 21:23:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
9369
+ 05/09 21:23:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
9370
+ 05/09 21:23:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
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