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sim update at 115 trajs (threshold 100)

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Files changed (28) hide show
  1. fridge1_minimal_wall/episode_00000026_exo_camera_1_batch_3_of_4_cam_rand.mp4 +3 -0
  2. fridge1_minimal_wall/episode_00000026_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 +3 -0
  3. fridge1_minimal_wall/episode_00000026_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 +3 -0
  4. fridge1_minimal_wall/episode_00000026_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 +3 -0
  5. fridge1_minimal_wall/episode_00000026_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 +3 -0
  6. fridge1_minimal_wall/episode_00000028_exo_camera_1_batch_2_of_4_cam_rand.mp4 +3 -0
  7. fridge1_minimal_wall/episode_00000028_exo_camera_1_batch_4_of_4_cam_rand.mp4 +3 -0
  8. fridge1_minimal_wall/episode_00000028_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 +3 -0
  9. fridge1_minimal_wall/episode_00000028_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 +3 -0
  10. fridge1_minimal_wall/episode_00000028_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 +3 -0
  11. fridge1_minimal_wall/episode_00000028_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 +3 -0
  12. fridge1_minimal_wall/episode_00000028_wrist_camera_batch_2_of_4_cam_rand.mp4 +3 -0
  13. fridge1_minimal_wall/episode_00000028_wrist_camera_batch_4_of_4_cam_rand.mp4 +3 -0
  14. fridge1_minimal_wall/episode_00000028_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 +3 -0
  15. fridge1_minimal_wall/episode_00000028_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 +3 -0
  16. fridge1_minimal_wall/episode_00000028_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 +3 -0
  17. fridge1_minimal_wall/episode_00000028_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 +3 -0
  18. fridge1_minimal_wall/episode_00000029_exo_camera_1_batch_1_of_4_cam_rand.mp4 +3 -0
  19. fridge1_minimal_wall/episode_00000029_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 +3 -0
  20. fridge1_minimal_wall/episode_00000029_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 +3 -0
  21. fridge1_minimal_wall/episode_00000029_wrist_camera_batch_1_of_4_cam_rand.mp4 +3 -0
  22. fridge1_minimal_wall/episode_00000029_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 +3 -0
  23. fridge1_minimal_wall/episode_00000029_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 +3 -0
  24. fridge1_minimal_wall/running_log.log +271 -0
  25. fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5 +2 -2
  26. fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5 +2 -2
  27. fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5 +2 -2
  28. fridge1_minimal_wall/trajectories_batch_4_of_4_cam_rand.h5 +2 -2
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fridge1_minimal_wall/running_log.log CHANGED
@@ -9647,3 +9647,274 @@
9647
  05/09 21:28:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
9648
  05/09 21:28:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
9649
  05/09 21:28:35 INFO: [Worker 0] Worker 0 house 1 episode 29 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
9647
  05/09 21:28:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
9648
  05/09 21:28:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
9649
  05/09 21:28:35 INFO: [Worker 0] Worker 0 house 1 episode 29 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108]
9650
+ 05/09 21:28:42 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174]
9651
+ 05/09 21:28:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes [pipeline.py: 238]
9652
+ 05/09 21:28:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278]
9653
+ 05/09 21:28:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
9654
+ 05/09 21:28:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785]
9655
+ 05/09 21:28:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.86s (batch: 4.88s, save: 10.98s) [pipeline.py: 300]
9656
+ 05/09 21:28:59 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.64s:
9657
+ episode_total: mean=223.97s, total=223.97s, count=1, min=223965.6ms, max=223965.6ms
9658
+ sensor_polling: mean=543.1ms, total=162.93s, count=300, min=461.6ms, max=1028.6ms
9659
+ save_trajectories: mean=10.98s, total=10.98s, count=1, min=10976.8ms, max=10976.8ms
9660
+ physics_step: mean=31.7ms, total=9.50s, count=300, min=20.4ms, max=105.2ms
9661
+ save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4880.3ms, max=4880.3ms
9662
+ task_sampling: mean=644.7ms, total=644.7ms, count=1, min=644.7ms, max=644.7ms
9663
+ task_specific_sample: mean=640.4ms, total=640.4ms, count=1, min=640.4ms, max=640.4ms
9664
+ scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
9665
+ mj_forward_sync: mean=435.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
9666
+ policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
9667
+ scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380]
9668
+ 05/09 21:29:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086]
9669
+ 05/09 21:29:01 INFO: [Worker 0] Scene setup completed.
9670
+ [pick_task_sampler.py: 260]
9671
+ 05/09 21:29:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63]
9672
+ 05/09 21:29:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9673
+ 05/09 21:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9674
+ 05/09 21:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9675
+ 05/09 21:29:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9676
+ 05/09 21:29:01 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093]
9677
+ 05/09 21:29:01 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]
9678
+ 05/09 21:29:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187]
9679
+ 05/09 21:29:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m) [opening_task_samplers.py: 256]
9680
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836]
9681
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845]
9682
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046039m [env.py: 870]
9683
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871]
9684
+ 05/09 21:29:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777]
9685
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907]
9686
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9687
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1132751 0.61338759 -0.04603891] yaw=-169.8deg [env.py: 1019]
9688
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029]
9689
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93468198 0.45521285 -0.04603891] yaw=-188.9deg [env.py: 1019]
9690
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029]
9691
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9692
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9693
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96734634 0.35957971 -0.04603891] yaw=164.7deg [env.py: 1019]
9694
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029]
9695
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068]
9696
+ 05/09 21:29:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=498.6ms, total=498.6ms [env.py: 1075]
9697
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.113, 0.613, -0.046) [env.py: 1079]
9698
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.8 deg [env.py: 1082]
9699
+ 05/09 21:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.716m [env.py: 1086]
9700
+ 05/09 21:29:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9701
+ 05/09 21:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9702
+ 05/09 21:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9703
+ 05/09 21:29:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9704
+ 05/09 21:29:01 INFO: [Worker 0] Sampled task 'Open the two-door white fridge' [task_sampler.py: 1136]
9705
+ 05/09 21:29:01 INFO: [Worker 0] Worker 0 house 1 episode 30/60 collected=0/10 [pipeline.py: 1044]
9706
+ 05/09 21:29:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377]
9707
+ 05/09 21:29:02 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]
9708
+ 05/09 21:29:02 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388]
9709
+ 05/09 21:29:02 INFO: [Worker 0] Collision-checked 388 grasps in 0.101s, found 388 non-colliding grasps [grasp_sample.py: 465]
9710
+ 05/09 21:29:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.906s, found feasible grasp: True [grasp_sample.py: 500]
9711
+ 05/09 21:29:03 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.442[m] 89.334[deg] [grasp_sample.py: 539]
9712
+ 05/09 21:29:03 INFO: [Worker 0] Planning completed. w/ 3 steps
9713
+ [open_close_planner_policy.py: 225]
9714
+ 05/09 21:29:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
9715
+ 05/09 21:29:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
9716
+ 05/09 21:29:04 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174]
9717
+ 05/09 21:29:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes [pipeline.py: 238]
9718
+ 05/09 21:29:04 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278]
9719
+ 05/09 21:29:17 INFO: [Worker 0] Worker 0 house 1 episode 29 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108]
9720
+ 05/09 21:29:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
9721
+ 05/09 21:29:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785]
9722
+ 05/09 21:29:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.65s (batch: 4.64s, save: 11.00s) [pipeline.py: 300]
9723
+ 05/09 21:29:20 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.76s:
9724
+ episode_total: mean=221.85s, total=221.85s, count=1, min=221854.5ms, max=221854.5ms
9725
+ sensor_polling: mean=539.3ms, total=161.79s, count=300, min=462.2ms, max=1082.5ms
9726
+ save_trajectories: mean=11.00s, total=11.00s, count=1, min=11000.9ms, max=11000.9ms
9727
+ physics_step: mean=26.5ms, total=7.96s, count=300, min=17.0ms, max=111.6ms
9728
+ save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4644.7ms, max=4644.7ms
9729
+ task_sampling: mean=757.9ms, total=757.9ms, count=1, min=757.9ms, max=757.9ms
9730
+ task_specific_sample: mean=753.2ms, total=753.2ms, count=1, min=753.2ms, max=753.2ms
9731
+ scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
9732
+ mj_forward_sync: mean=525.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
9733
+ policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
9734
+ scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380]
9735
+ 05/09 21:29:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086]
9736
+ 05/09 21:29:22 INFO: [Worker 0] Scene setup completed.
9737
+ [pick_task_sampler.py: 260]
9738
+ 05/09 21:29:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63]
9739
+ 05/09 21:29:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9740
+ 05/09 21:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9741
+ 05/09 21:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9742
+ 05/09 21:29:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9743
+ 05/09 21:29:22 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093]
9744
+ 05/09 21:29:22 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178]
9745
+ 05/09 21:29:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187]
9746
+ 05/09 21:29:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m) [opening_task_samplers.py: 256]
9747
+ 05/09 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836]
9748
+ 05/09 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845]
9749
+ 05/09 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039215m [env.py: 870]
9750
+ 05/09 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871]
9751
+ 05/09 21:29:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777]
9752
+ 05/09 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907]
9753
+ 05/09 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.11023005 1.02612999 -0.03921477] yaw=-141.5deg [env.py: 1019]
9754
+ 05/09 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029]
9755
+ 05/09 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.20504552 0.91859178 -0.03921477] yaw=-148.9deg [env.py: 1019]
9756
+ 05/09 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029]
9757
+ 05/09 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94482421 -0.02889825 -0.03921477] yaw=146.7deg [env.py: 1019]
9758
+ 05/09 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029]
9759
+ 05/09 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068]
9760
+ 05/09 21:29:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.5ms, total=134.5ms [env.py: 1075]
9761
+ 05/09 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.110, 1.026, -0.039) [env.py: 1079]
9762
+ 05/09 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg [env.py: 1082]
9763
+ 05/09 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086]
9764
+ 05/09 21:29:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9765
+ 05/09 21:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9766
+ 05/09 21:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9767
+ 05/09 21:29:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9768
+ 05/09 21:29:23 INFO: [Worker 0] Sampled task 'Open the white fridge' [task_sampler.py: 1136]
9769
+ 05/09 21:29:23 INFO: [Worker 0] Worker 0 house 1 episode 30/60 collected=0/10 [pipeline.py: 1044]
9770
+ 05/09 21:29:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377]
9771
+ 05/09 21:29:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179]
9772
+ 05/09 21:29:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388]
9773
+ 05/09 21:29:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.091s, found 388 non-colliding grasps [grasp_sample.py: 465]
9774
+ 05/09 21:29:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.605s, found feasible grasp: True [grasp_sample.py: 500]
9775
+ 05/09 21:29:23 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.557[m] 82.166[deg] [grasp_sample.py: 539]
9776
+ 05/09 21:29:23 INFO: [Worker 0] Planning completed. w/ 3 steps
9777
+ [open_close_planner_policy.py: 225]
9778
+ 05/09 21:29:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
9779
+ 05/09 21:29:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
9780
+ 05/09 21:29:47 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174]
9781
+ 05/09 21:29:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes [pipeline.py: 238]
9782
+ 05/09 21:29:47 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278]
9783
+ 05/09 21:29:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
9784
+ 05/09 21:30:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
9785
+ 05/09 21:30:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785]
9786
+ 05/09 21:30:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.91s (batch: 4.94s, save: 9.97s) [pipeline.py: 300]
9787
+ 05/09 21:30:03 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.57s:
9788
+ episode_total: mean=221.38s, total=221.38s, count=1, min=221384.6ms, max=221384.6ms
9789
+ sensor_polling: mean=534.4ms, total=160.32s, count=300, min=464.2ms, max=899.0ms
9790
+ save_trajectories: mean=9.97s, total=9.97s, count=1, min=9970.1ms, max=9970.1ms
9791
+ physics_step: mean=27.9ms, total=8.37s, count=300, min=19.5ms, max=104.0ms
9792
+ save_batch_prep: mean=4.94s, total=4.94s, count=1, min=4940.5ms, max=4940.5ms
9793
+ task_sampling: mean=567.9ms, total=567.9ms, count=1, min=567.9ms, max=567.9ms
9794
+ task_specific_sample: mean=562.4ms, total=562.4ms, count=1, min=562.4ms, max=562.4ms
9795
+ scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
9796
+ mj_forward_sync: mean=612.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
9797
+ policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
9798
+ scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380]
9799
+ 05/09 21:30:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086]
9800
+ 05/09 21:30:05 INFO: [Worker 0] Scene setup completed.
9801
+ [pick_task_sampler.py: 260]
9802
+ 05/09 21:30:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63]
9803
+ 05/09 21:30:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9804
+ 05/09 21:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9805
+ 05/09 21:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9806
+ 05/09 21:30:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9807
+ 05/09 21:30:05 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093]
9808
+ 05/09 21:30:05 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]
9809
+ 05/09 21:30:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187]
9810
+ 05/09 21:30:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m) [opening_task_samplers.py: 256]
9811
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836]
9812
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845]
9813
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015704m [env.py: 870]
9814
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871]
9815
+ 05/09 21:30:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777]
9816
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907]
9817
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9818
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91799267 0.16578365 0.01570391] yaw=167.8deg [env.py: 1019]
9819
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029]
9820
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87066872 0.28336449 0.01570391] yaw=174.0deg [env.py: 1019]
9821
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029]
9822
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -180.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9823
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9824
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.25244014 1.03289995 0.01570391] yaw=-126.4deg [env.py: 1019]
9825
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029]
9826
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068]
9827
+ 05/09 21:30:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=269.3ms, total=269.4ms [env.py: 1075]
9828
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.918, 0.166, 0.016) [env.py: 1079]
9829
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.8 deg [env.py: 1082]
9830
+ 05/09 21:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086]
9831
+ 05/09 21:30:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9832
+ 05/09 21:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9833
+ 05/09 21:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9834
+ 05/09 21:30:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9835
+ 05/09 21:30:06 INFO: [Worker 0] Sampled task 'Open the appliance' [task_sampler.py: 1136]
9836
+ 05/09 21:30:06 INFO: [Worker 0] Worker 0 house 1 episode 30/60 collected=0/10 [pipeline.py: 1044]
9837
+ 05/09 21:30:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377]
9838
+ 05/09 21:30:06 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]
9839
+ 05/09 21:30:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388]
9840
+ 05/09 21:30:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.099s, found 388 non-colliding grasps [grasp_sample.py: 465]
9841
+ 05/09 21:30:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
9842
+ 05/09 21:30:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.586s, found feasible grasp: True [grasp_sample.py: 500]
9843
+ 05/09 21:30:09 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.561[m] 91.350[deg] [grasp_sample.py: 539]
9844
+ 05/09 21:30:09 INFO: [Worker 0] Planning completed. w/ 3 steps
9845
+ [open_close_planner_policy.py: 225]
9846
+ 05/09 21:30:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
9847
+ 05/09 21:30:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
9848
+ 05/09 21:30:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
9849
+ 05/09 21:30:17 INFO: [Worker 0] Worker 0 house 1 episode 31 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108]
9850
+ 05/09 21:30:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
9851
+ 05/09 21:30:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
9852
+ 05/09 21:30:41 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174]
9853
+ 05/09 21:30:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes [pipeline.py: 238]
9854
+ 05/09 21:30:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278]
9855
+ 05/09 21:30:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
9856
+ 05/09 21:30:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
9857
+ 05/09 21:30:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785]
9858
+ 05/09 21:30:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.10s (batch: 4.51s, save: 9.59s) [pipeline.py: 300]
9859
+ 05/09 21:30:55 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.40s:
9860
+ episode_total: mean=213.09s, total=213.09s, count=1, min=213087.8ms, max=213087.8ms
9861
+ sensor_polling: mean=533.9ms, total=160.16s, count=300, min=460.9ms, max=874.8ms
9862
+ save_trajectories: mean=9.59s, total=9.59s, count=1, min=9588.5ms, max=9588.5ms
9863
+ physics_step: mean=28.9ms, total=8.66s, count=300, min=18.1ms, max=152.8ms
9864
+ save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4508.0ms, max=4508.0ms
9865
+ task_sampling: mean=398.2ms, total=398.2ms, count=1, min=398.2ms, max=398.2ms
9866
+ task_specific_sample: mean=393.8ms, total=393.8ms, count=1, min=393.8ms, max=393.8ms
9867
+ scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
9868
+ mj_forward_sync: mean=437.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
9869
+ policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
9870
+ scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380]
9871
+ 05/09 21:30:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086]
9872
+ 05/09 21:30:57 INFO: [Worker 0] Scene setup completed.
9873
+ [pick_task_sampler.py: 260]
9874
+ 05/09 21:30:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63]
9875
+ 05/09 21:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9876
+ 05/09 21:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9877
+ 05/09 21:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9878
+ 05/09 21:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9879
+ 05/09 21:30:57 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093]
9880
+ 05/09 21:30:57 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]
9881
+ 05/09 21:30:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187]
9882
+ 05/09 21:30:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m) [opening_task_samplers.py: 256]
9883
+ 05/09 21:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836]
9884
+ 05/09 21:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845]
9885
+ 05/09 21:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038964m [env.py: 870]
9886
+ 05/09 21:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871]
9887
+ 05/09 21:30:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777]
9888
+ 05/09 21:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907]
9889
+ 05/09 21:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9890
+ 05/09 21:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97165706 0.83707419 0.0389644 ] yaw=-161.1deg [env.py: 1019]
9891
+ 05/09 21:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029]
9892
+ 05/09 21:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9893
+ 05/09 21:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09904739 0.92954986 0.0389644 ] yaw=-149.3deg [env.py: 1019]
9894
+ 05/09 21:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029]
9895
+ 05/09 21:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0325479 0.39839553 0.0389644 ] yaw=174.3deg [env.py: 1019]
9896
+ 05/09 21:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029]
9897
+ 05/09 21:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068]
9898
+ 05/09 21:30:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.1ms, total=128.2ms [env.py: 1075]
9899
+ 05/09 21:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.837, 0.039) [env.py: 1079]
9900
+ 05/09 21:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg [env.py: 1082]
9901
+ 05/09 21:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086]
9902
+ 05/09 21:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9903
+ 05/09 21:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9904
+ 05/09 21:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9905
+ 05/09 21:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9906
+ 05/09 21:30:58 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim' [task_sampler.py: 1136]
9907
+ 05/09 21:30:58 INFO: [Worker 0] Worker 0 house 1 episode 32/60 collected=0/10 [pipeline.py: 1044]
9908
+ 05/09 21:30:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377]
9909
+ 05/09 21:30:58 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]
9910
+ 05/09 21:30:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388]
9911
+ 05/09 21:30:58 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps [grasp_sample.py: 465]
9912
+ 05/09 21:30:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.644s, found feasible grasp: True [grasp_sample.py: 500]
9913
+ 05/09 21:30:59 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.608[m] 101.501[deg] [grasp_sample.py: 539]
9914
+ 05/09 21:30:59 INFO: [Worker 0] Planning completed. w/ 3 steps
9915
+ [open_close_planner_policy.py: 225]
9916
+ 05/09 21:31:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
9917
+ 05/09 21:31:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
9918
+ 05/09 21:31:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
9919
+ 05/09 21:31:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
9920
+ 05/09 21:31:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
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