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Ravenh97 commited on
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1 Parent(s): b8994cf

sim update at 103 trajs (threshold 100)

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Files changed (3) hide show
  1. fridge1_minimal_wall/episode_00000026_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 +3 -0
  2. fridge1_minimal_wall/running_log.log +111 -0
  3. fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5 +2 -2
fridge1_minimal_wall/episode_00000026_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ size 725744
fridge1_minimal_wall/running_log.log CHANGED
@@ -8981,3 +8981,114 @@
8981
  05/09 21:19:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
8982
  05/09 21:19:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785]
8983
  05/09 21:19:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.88s (batch: 5.47s, save: 10.41s) [pipeline.py: 300]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
8981
  05/09 21:19:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
8982
  05/09 21:19:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785]
8983
  05/09 21:19:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.88s (batch: 5.47s, save: 10.41s) [pipeline.py: 300]
8984
+ 05/09 21:19:45 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.62s:
8985
+ episode_total: mean=201.60s, total=201.60s, count=1, min=201603.2ms, max=201603.2ms
8986
+ sensor_polling: mean=539.4ms, total=145.09s, count=269, min=468.5ms, max=944.1ms
8987
+ save_trajectories: mean=10.41s, total=10.41s, count=1, min=10407.0ms, max=10407.0ms
8988
+ physics_step: mean=28.9ms, total=7.77s, count=269, min=19.6ms, max=99.5ms
8989
+ save_batch_prep: mean=5.47s, total=5.47s, count=1, min=5474.8ms, max=5474.8ms
8990
+ task_sampling: mean=617.7ms, total=617.7ms, count=1, min=617.7ms, max=617.7ms
8991
+ task_specific_sample: mean=613.4ms, total=613.4ms, count=1, min=613.4ms, max=613.4ms
8992
+ scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
8993
+ mj_forward_sync: mean=435.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
8994
+ policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
8995
+ scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380]
8996
+ 05/09 21:19:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
8997
+ 05/09 21:19:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086]
8998
+ 05/09 21:19:46 INFO: [Worker 0] Scene setup completed.
8999
+ [pick_task_sampler.py: 260]
9000
+ 05/09 21:19:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63]
9001
+ 05/09 21:19:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9002
+ 05/09 21:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9003
+ 05/09 21:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9004
+ 05/09 21:19:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9005
+ 05/09 21:19:46 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093]
9006
+ 05/09 21:19:46 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]
9007
+ 05/09 21:19:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187]
9008
+ 05/09 21:19:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m) [opening_task_samplers.py: 256]
9009
+ 05/09 21:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836]
9010
+ 05/09 21:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845]
9011
+ 05/09 21:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005801m [env.py: 870]
9012
+ 05/09 21:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871]
9013
+ 05/09 21:19:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777]
9014
+ 05/09 21:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907]
9015
+ 05/09 21:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9016
+ 05/09 21:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9017
+ 05/09 21:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83704314 0.320951 -0.00580081] yaw=180.0deg [env.py: 1019]
9018
+ 05/09 21:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029]
9019
+ 05/09 21:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09075658 0.69306328 -0.00580081] yaw=-148.8deg [env.py: 1019]
9020
+ 05/09 21:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029]
9021
+ 05/09 21:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06167053 0.22330462 -0.00580081] yaw=171.3deg [env.py: 1019]
9022
+ 05/09 21:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029]
9023
+ 05/09 21:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068]
9024
+ 05/09 21:19:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.8ms, total=114.8ms [env.py: 1075]
9025
+ 05/09 21:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.837, 0.321, -0.006) [env.py: 1079]
9026
+ 05/09 21:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.0 deg [env.py: 1082]
9027
+ 05/09 21:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m [env.py: 1086]
9028
+ 05/09 21:19:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9029
+ 05/09 21:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9030
+ 05/09 21:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9031
+ 05/09 21:19:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9032
+ 05/09 21:19:47 INFO: [Worker 0] Sampled task 'Open the icebox' [task_sampler.py: 1136]
9033
+ 05/09 21:19:47 INFO: [Worker 0] Worker 0 house 1 episode 28/60 collected=0/10 [pipeline.py: 1044]
9034
+ 05/09 21:19:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377]
9035
+ 05/09 21:19:47 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]
9036
+ 05/09 21:19:47 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388]
9037
+ 05/09 21:19:47 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 388 non-colliding grasps [grasp_sample.py: 465]
9038
+ 05/09 21:19:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.188s, found feasible grasp: True [grasp_sample.py: 500]
9039
+ 05/09 21:19:48 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.595[m] 85.548[deg] [grasp_sample.py: 539]
9040
+ 05/09 21:19:49 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242]
9041
+ 05/09 21:19:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086]
9042
+ 05/09 21:19:51 INFO: [Worker 0] Scene setup completed.
9043
+ [pick_task_sampler.py: 260]
9044
+ 05/09 21:19:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63]
9045
+ 05/09 21:19:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9046
+ 05/09 21:19:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9047
+ 05/09 21:19:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9048
+ 05/09 21:19:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9049
+ 05/09 21:19:51 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093]
9050
+ 05/09 21:19:51 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]
9051
+ 05/09 21:19:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187]
9052
+ 05/09 21:19:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 256]
9053
+ 05/09 21:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836]
9054
+ 05/09 21:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845]
9055
+ 05/09 21:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003568m [env.py: 870]
9056
+ 05/09 21:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871]
9057
+ 05/09 21:19:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777]
9058
+ 05/09 21:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907]
9059
+ 05/09 21:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9060
+ 05/09 21:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87360307 0.19673237 0.00356846] yaw=164.6deg [env.py: 1019]
9061
+ 05/09 21:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029]
9062
+ 05/09 21:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9063
+ 05/09 21:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9064
+ 05/09 21:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9065
+ 05/09 21:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.06151268 0.808525 0.00356846] yaw=-144.7deg [env.py: 1019]
9066
+ 05/09 21:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029]
9067
+ 05/09 21:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068]
9068
+ 05/09 21:19:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.7ms, total=188.8ms [env.py: 1075]
9069
+ 05/09 21:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.874, 0.197, 0.004) [env.py: 1079]
9070
+ 05/09 21:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.6 deg [env.py: 1082]
9071
+ 05/09 21:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086]
9072
+ 05/09 21:19:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9073
+ 05/09 21:19:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9074
+ 05/09 21:19:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9075
+ 05/09 21:19:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9076
+ 05/09 21:19:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136]
9077
+ 05/09 21:19:52 INFO: [Worker 0] Worker 0 house 1 episode 29/60 collected=0/10 [pipeline.py: 1044]
9078
+ 05/09 21:19:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377]
9079
+ 05/09 21:19:52 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]
9080
+ 05/09 21:19:52 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388]
9081
+ 05/09 21:19:52 INFO: [Worker 0] Collision-checked 388 grasps in 0.077s, found 388 non-colliding grasps [grasp_sample.py: 465]
9082
+ 05/09 21:19:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.767s, found feasible grasp: True [grasp_sample.py: 500]
9083
+ 05/09 21:19:54 INFO: [Worker 0] Feasible grasp found 348 (originally 154): w/ 0.537[m] 84.448[deg] [grasp_sample.py: 539]
9084
+ 05/09 21:19:54 INFO: [Worker 0] Planning completed. w/ 3 steps
9085
+ [open_close_planner_policy.py: 225]
9086
+ 05/09 21:19:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
9087
+ 05/09 21:19:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
9088
+ 05/09 21:20:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
9089
+ 05/09 21:20:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
9090
+ 05/09 21:20:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
9091
+ 05/09 21:20:56 INFO: [Worker 0] Moving to grasp [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]
fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5 CHANGED
@@ -1,3 +1,3 @@
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