Hugging Face's logo

Datasets:
Ravenh97
/
sim_data

Modalities:
Video
Size:
10K - 100K
Libraries:
Datasets
Dataset card Data Studio Files
xet
 Community
1
Ravenh97 commited on
Commit
0128ed1
·
verified ·
1 Parent(s): 8d80a77

sim update at 110 trajs (threshold 100)

Browse files
Files changed (24) hide show
  1. fridge1_minimal_wall/episode_00000025_exo_camera_1_batch_3_of_4_cam_rand.mp4 +3 -0
  2. fridge1_minimal_wall/episode_00000025_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 +3 -0
  3. fridge1_minimal_wall/episode_00000025_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 +3 -0
  4. fridge1_minimal_wall/episode_00000025_wrist_camera_batch_3_of_4_cam_rand.mp4 +3 -0
  5. fridge1_minimal_wall/episode_00000025_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 +3 -0
  6. fridge1_minimal_wall/episode_00000025_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 +3 -0
  7. fridge1_minimal_wall/episode_00000027_exo_camera_1_batch_2_of_4_cam_rand.mp4 +3 -0
  8. fridge1_minimal_wall/episode_00000027_exo_camera_1_batch_4_of_4_cam_rand.mp4 +3 -0
  9. fridge1_minimal_wall/episode_00000027_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 +3 -0
  10. fridge1_minimal_wall/episode_00000027_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 +3 -0
  11. fridge1_minimal_wall/episode_00000027_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 +3 -0
  12. fridge1_minimal_wall/episode_00000027_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 +3 -0
  13. fridge1_minimal_wall/episode_00000027_wrist_camera_batch_2_of_4_cam_rand.mp4 +3 -0
  14. fridge1_minimal_wall/episode_00000027_wrist_camera_batch_4_of_4_cam_rand.mp4 +3 -0
  15. fridge1_minimal_wall/episode_00000027_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 +3 -0
  16. fridge1_minimal_wall/episode_00000027_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 +3 -0
  17. fridge1_minimal_wall/episode_00000027_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 +3 -0
  18. fridge1_minimal_wall/episode_00000027_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 +3 -0
  19. fridge1_minimal_wall/episode_00000028_wrist_camera_batch_1_of_4_cam_rand.mp4 +3 -0
  20. fridge1_minimal_wall/episode_00000028_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 +3 -0
  21. fridge1_minimal_wall/running_log.log +209 -0
  22. fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5 +2 -2
  23. fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5 +2 -2
  24. fridge1_minimal_wall/trajectories_batch_4_of_4_cam_rand.h5 +2 -2
fridge1_minimal_wall/episode_00000025_exo_camera_1_batch_3_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e85fadff8b817384567bfb035e1cf9676373ca1f2e3ff87451e63bd6d17f5569
3
+ size 776951
fridge1_minimal_wall/episode_00000025_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:106198b45b85ab077c6ae7ada6adf41fe0c2dab7386c7083f383b436947e5313
3
+ size 580371
fridge1_minimal_wall/episode_00000025_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:59195641d9b041579699b7961b7bf99cab8d49aec44374b630eef2d0cc8b9bf2
3
+ size 814504
fridge1_minimal_wall/episode_00000025_wrist_camera_batch_3_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2d8702ff5546c096152307d92267b2423f407c0f9edd0c3a1711a22632aaba11
3
+ size 585240
fridge1_minimal_wall/episode_00000025_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a3e8c3a8191f8ec26a49c4fdfeba10409e7691412d01495b248f2ecb96bb33b4
3
+ size 111762
fridge1_minimal_wall/episode_00000025_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:834899f0aac0e154006c559cd0e7b91c52733452491087e593b40c8f4fb3caac
3
+ size 450409
fridge1_minimal_wall/episode_00000027_exo_camera_1_batch_2_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7c3e9851ce48cf777e581effc1600f9679fc15b03595ab02c5fef29fdbaa0c45
3
+ size 847010
fridge1_minimal_wall/episode_00000027_exo_camera_1_batch_4_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:49bc2c383fa1deaa5b491999fc9665770db91731429be97545b8c7af35d17729
3
+ size 1105006
fridge1_minimal_wall/episode_00000027_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cf381f37f71f08e96b0cca7f8c39131be5a8a556ecd3d760cb4a6eed2e8be44c
3
+ size 707707
fridge1_minimal_wall/episode_00000027_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c1ec615a65ab2f2c9952f468576079fb81589dff5a531ed7e49fa00ac0119d39
3
+ size 864346
fridge1_minimal_wall/episode_00000027_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b41aac62bea462e20543c4b2e28d85430f7a6bd12a558de508cf389c6a6c3429
3
+ size 660345
fridge1_minimal_wall/episode_00000027_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e122ab930b3c78f3217d79468ed9fd410f7282d218ace51fa21c603619fa4faa
3
+ size 581133
fridge1_minimal_wall/episode_00000027_wrist_camera_batch_2_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e5ddcea022771185690351403e4d63de2a32a1a6339e7939f843b3892ce38de1
3
+ size 742658
fridge1_minimal_wall/episode_00000027_wrist_camera_batch_4_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0240d1f561ab9ff7729374ee3015b6832c18311350e6345e1a647eb90faa54c4
3
+ size 577602
fridge1_minimal_wall/episode_00000027_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e33d38391c113714784b44e1e95ab797df1921c8c20ce71fd6e0045807eb9950
3
+ size 132476
fridge1_minimal_wall/episode_00000027_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dd443d1f27a84786faa56fc3fd43f372c388f4ddf2dc7576ddbf0ba9f4c0b03d
3
+ size 115616
fridge1_minimal_wall/episode_00000027_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:df1691e3c9ced525ad4d567756deac03959623a1b283603329f40d6a32822e6a
3
+ size 446668
fridge1_minimal_wall/episode_00000027_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:041405a15ef134730e02bf7a50dcd204e2cb63deaa0f84ebdcc8bac8ed838da6
3
+ size 352696
fridge1_minimal_wall/episode_00000028_wrist_camera_batch_1_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:243ec5f33133c7c46497f52008a6234007a06d460354fdb1336d07002bd41661
3
+ size 725233
fridge1_minimal_wall/episode_00000028_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6f0b061f103b669f4d3cdb75e158569472234581941dd57229bc9e646894cd6e
3
+ size 420547
fridge1_minimal_wall/running_log.log CHANGED
@@ -9368,3 +9368,212 @@
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]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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]
9371
+ 05/09 21:24:33 INFO: [Worker 0] Worker 0 house 1 episode 28 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108]
9372
+ 05/09 21:24:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
9373
+ 05/09 21:24:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
9374
+ 05/09 21:24:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
9375
+ 05/09 21:24:51 INFO: [Worker 0] Worker 0 house 1 episode 28 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108]
9376
+ 05/09 21:24:56 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174]
9377
+ 05/09 21:24:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes [pipeline.py: 238]
9378
+ 05/09 21:24:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278]
9379
+ 05/09 21:25:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
9380
+ 05/09 21:25:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785]
9381
+ 05/09 21:25:12 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.90s (batch: 5.50s, save: 10.40s) [pipeline.py: 300]
9382
+ 05/09 21:25:13 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.49s:
9383
+ episode_total: mean=217.03s, total=217.03s, count=1, min=217029.3ms, max=217029.3ms
9384
+ sensor_polling: mean=540.7ms, total=162.20s, count=300, min=460.7ms, max=1159.9ms
9385
+ save_trajectories: mean=10.40s, total=10.40s, count=1, min=10396.7ms, max=10396.7ms
9386
+ physics_step: mean=28.1ms, total=8.43s, count=300, min=20.4ms, max=117.8ms
9387
+ save_batch_prep: mean=5.50s, total=5.50s, count=1, min=5499.4ms, max=5499.4ms
9388
+ task_sampling: mean=485.2ms, total=485.2ms, count=1, min=485.2ms, max=485.2ms
9389
+ task_specific_sample: mean=481.0ms, total=481.0ms, count=1, min=481.0ms, max=481.0ms
9390
+ scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
9391
+ mj_forward_sync: mean=449.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
9392
+ policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
9393
+ scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380]
9394
+ 05/09 21:25:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086]
9395
+ 05/09 21:25:15 INFO: [Worker 0] Scene setup completed.
9396
+ [pick_task_sampler.py: 260]
9397
+ 05/09 21:25:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63]
9398
+ 05/09 21:25:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9399
+ 05/09 21:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9400
+ 05/09 21:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9401
+ 05/09 21:25:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9402
+ 05/09 21:25:15 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093]
9403
+ 05/09 21:25:15 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]
9404
+ 05/09 21:25:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187]
9405
+ 05/09 21:25:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m) [opening_task_samplers.py: 256]
9406
+ 05/09 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836]
9407
+ 05/09 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845]
9408
+ 05/09 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002848m [env.py: 870]
9409
+ 05/09 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871]
9410
+ 05/09 21:25:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777]
9411
+ 05/09 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907]
9412
+ 05/09 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9413
+ 05/09 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94130212 0.64182179 -0.00284774] yaw=-160.4deg [env.py: 1019]
9414
+ 05/09 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029]
9415
+ 05/09 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9416
+ 05/09 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9417
+ 05/09 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9418
+ 05/09 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10709166 0.0983195 -0.00284774] yaw=149.4deg [env.py: 1019]
9419
+ 05/09 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029]
9420
+ 05/09 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068]
9421
+ 05/09 21:25:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=337.4ms, total=337.4ms [env.py: 1075]
9422
+ 05/09 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.642, -0.003) [env.py: 1079]
9423
+ 05/09 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg [env.py: 1082]
9424
+ 05/09 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086]
9425
+ 05/09 21:25:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9426
+ 05/09 21:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9427
+ 05/09 21:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9428
+ 05/09 21:25:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9429
+ 05/09 21:25:15 INFO: [Worker 0] Sampled task 'Open the appliance' [task_sampler.py: 1136]
9430
+ 05/09 21:25:15 INFO: [Worker 0] Worker 0 house 1 episode 29/60 collected=0/10 [pipeline.py: 1044]
9431
+ 05/09 21:25:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377]
9432
+ 05/09 21:25:15 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]
9433
+ 05/09 21:25:15 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388]
9434
+ 05/09 21:25:16 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps [grasp_sample.py: 465]
9435
+ 05/09 21:25:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.585s, found feasible grasp: True [grasp_sample.py: 500]
9436
+ 05/09 21:25:16 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.571[m] 101.879[deg] [grasp_sample.py: 539]
9437
+ 05/09 21:25:16 INFO: [Worker 0] Planning completed. w/ 3 steps
9438
+ [open_close_planner_policy.py: 225]
9439
+ 05/09 21:25:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
9440
+ 05/09 21:25:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
9441
+ 05/09 21:25:17 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174]
9442
+ 05/09 21:25:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes [pipeline.py: 238]
9443
+ 05/09 21:25:17 INFO: [Worker 0] Preparing episode data: 299 timesteps [save_utils.py: 278]
9444
+ 05/09 21:25:35 INFO: [Worker 0] Worker 0 house 1 episode 28 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108]
9445
+ 05/09 21:25:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
9446
+ 05/09 21:25:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785]
9447
+ 05/09 21:25:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 18.61s (batch: 4.58s, save: 14.03s) [pipeline.py: 300]
9448
+ 05/09 21:25:36 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.47s:
9449
+ episode_total: mean=220.78s, total=220.78s, count=1, min=220777.2ms, max=220777.2ms
9450
+ sensor_polling: mean=539.1ms, total=160.65s, count=298, min=453.2ms, max=1107.2ms
9451
+ save_trajectories: mean=14.03s, total=14.03s, count=1, min=14032.3ms, max=14032.3ms
9452
+ physics_step: mean=27.8ms, total=8.29s, count=298, min=19.3ms, max=114.5ms
9453
+ save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4579.2ms, max=4579.2ms
9454
+ task_sampling: mean=465.1ms, total=465.1ms, count=1, min=465.1ms, max=465.1ms
9455
+ task_specific_sample: mean=460.9ms, total=460.9ms, count=1, min=460.9ms, max=460.9ms
9456
+ scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
9457
+ mj_forward_sync: mean=457.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
9458
+ policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
9459
+ scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380]
9460
+ 05/09 21:25:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086]
9461
+ 05/09 21:25:38 INFO: [Worker 0] Scene setup completed.
9462
+ [pick_task_sampler.py: 260]
9463
+ 05/09 21:25:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63]
9464
+ 05/09 21:25:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9465
+ 05/09 21:25:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9466
+ 05/09 21:25:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9467
+ 05/09 21:25:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9468
+ 05/09 21:25:38 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093]
9469
+ 05/09 21:25:38 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]
9470
+ 05/09 21:25:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187]
9471
+ 05/09 21:25:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m) [opening_task_samplers.py: 256]
9472
+ 05/09 21:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836]
9473
+ 05/09 21:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845]
9474
+ 05/09 21:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029446m [env.py: 870]
9475
+ 05/09 21:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871]
9476
+ 05/09 21:25:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777]
9477
+ 05/09 21:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907]
9478
+ 05/09 21:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9479
+ 05/09 21:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8623848 0.19862873 0.02944606] yaw=156.8deg [env.py: 1019]
9480
+ 05/09 21:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029]
9481
+ 05/09 21:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9482
+ 05/09 21:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08626874 0.75543078 0.02944606] yaw=-155.1deg [env.py: 1019]
9483
+ 05/09 21:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029]
9484
+ 05/09 21:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9485
+ 05/09 21:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02279932 0.08438617 0.02944606] yaw=153.3deg [env.py: 1019]
9486
+ 05/09 21:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029]
9487
+ 05/09 21:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068]
9488
+ 05/09 21:25:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=454.7ms, total=454.7ms [env.py: 1075]
9489
+ 05/09 21:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.862, 0.199, 0.029) [env.py: 1079]
9490
+ 05/09 21:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.8 deg [env.py: 1082]
9491
+ 05/09 21:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086]
9492
+ 05/09 21:25:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9493
+ 05/09 21:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9494
+ 05/09 21:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9495
+ 05/09 21:25:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9496
+ 05/09 21:25:39 INFO: [Worker 0] Sampled task 'Open the icebox' [task_sampler.py: 1136]
9497
+ 05/09 21:25:39 INFO: [Worker 0] Worker 0 house 1 episode 29/60 collected=0/10 [pipeline.py: 1044]
9498
+ 05/09 21:25:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377]
9499
+ 05/09 21:25:39 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]
9500
+ 05/09 21:25:39 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388]
9501
+ 05/09 21:25:39 INFO: [Worker 0] Collision-checked 388 grasps in 0.098s, found 388 non-colliding grasps [grasp_sample.py: 465]
9502
+ 05/09 21:25:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.716s, found feasible grasp: True [grasp_sample.py: 500]
9503
+ 05/09 21:25:40 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.629[m] 93.914[deg] [grasp_sample.py: 539]
9504
+ 05/09 21:25:40 INFO: [Worker 0] Planning completed. w/ 3 steps
9505
+ [open_close_planner_policy.py: 225]
9506
+ 05/09 21:25:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
9507
+ 05/09 21:25:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
9508
+ 05/09 21:26:03 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174]
9509
+ 05/09 21:26:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes [pipeline.py: 238]
9510
+ 05/09 21:26:03 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278]
9511
+ 05/09 21:26:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741]
9512
+ 05/09 21:26:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785]
9513
+ 05/09 21:26:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.71s (batch: 6.02s, save: 9.69s) [pipeline.py: 300]
9514
+ 05/09 21:26:20 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.80s:
9515
+ episode_total: mean=213.76s, total=213.76s, count=1, min=213762.4ms, max=213762.4ms
9516
+ sensor_polling: mean=547.7ms, total=154.44s, count=282, min=457.9ms, max=1053.6ms
9517
+ save_trajectories: mean=9.69s, total=9.69s, count=1, min=9690.4ms, max=9690.4ms
9518
+ physics_step: mean=28.4ms, total=8.02s, count=282, min=19.3ms, max=122.4ms
9519
+ save_batch_prep: mean=6.02s, total=6.02s, count=1, min=6015.2ms, max=6015.2ms
9520
+ task_sampling: mean=795.3ms, total=795.3ms, count=1, min=795.3ms, max=795.3ms
9521
+ task_specific_sample: mean=790.1ms, total=790.1ms, count=1, min=790.1ms, max=790.1ms
9522
+ scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
9523
+ mj_forward_sync: mean=647.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
9524
+ policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
9525
+ scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380]
9526
+ 05/09 21:26:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086]
9527
+ 05/09 21:26:22 INFO: [Worker 0] Scene setup completed.
9528
+ [pick_task_sampler.py: 260]
9529
+ 05/09 21:26:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63]
9530
+ 05/09 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9531
+ 05/09 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9532
+ 05/09 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9533
+ 05/09 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9534
+ 05/09 21:26:22 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093]
9535
+ 05/09 21:26:22 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]
9536
+ 05/09 21:26:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187]
9537
+ 05/09 21:26:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m) [opening_task_samplers.py: 256]
9538
+ 05/09 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836]
9539
+ 05/09 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845]
9540
+ 05/09 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035236m [env.py: 870]
9541
+ 05/09 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871]
9542
+ 05/09 21:26:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777]
9543
+ 05/09 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907]
9544
+ 05/09 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9545
+ 05/09 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03722398 0.97999283 0.03523591] yaw=-153.1deg [env.py: 1019]
9546
+ 05/09 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029]
9547
+ 05/09 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.27670261 1.06062813 0.03523591] yaw=-132.2deg [env.py: 1019]
9548
+ 05/09 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029]
9549
+ 05/09 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9550
+ 05/09 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969]
9551
+ 05/09 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068]
9552
+ 05/09 21:26:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.8ms, total=195.8ms [env.py: 1075]
9553
+ 05/09 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.037, 0.980, 0.035) [env.py: 1079]
9554
+ 05/09 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg [env.py: 1082]
9555
+ 05/09 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m [env.py: 1086]
9556
+ 05/09 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300]
9557
+ 05/09 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438]
9558
+ 05/09 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510]
9559
+ 05/09 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326]
9560
+ 05/09 21:26:22 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles' [task_sampler.py: 1136]
9561
+ 05/09 21:26:22 INFO: [Worker 0] Worker 0 house 1 episode 29/60 collected=0/10 [pipeline.py: 1044]
9562
+ 05/09 21:26:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377]
9563
+ 05/09 21:26:22 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]
9564
+ 05/09 21:26:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388]
9565
+ 05/09 21:26:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps [grasp_sample.py: 465]
9566
+ 05/09 21:26:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.843s, found feasible grasp: True [grasp_sample.py: 500]
9567
+ 05/09 21:26:24 INFO: [Worker 0] Feasible grasp found 344 (originally 150): w/ 0.559[m] 94.892[deg] [grasp_sample.py: 539]
9568
+ 05/09 21:26:24 INFO: [Worker 0] Planning completed. w/ 3 steps
9569
+ [open_close_planner_policy.py: 225]
9570
+ 05/09 21:26:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299]
9571
+ 05/09 21:26:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112]
9572
+ 05/09 21:26:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
9573
+ 05/09 21:26:34 INFO: [Worker 0] Worker 0 house 1 episode 30 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108]
9574
+ 05/09 21:26:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301]
9575
+ 05/09 21:26:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112]
9576
+ 05/09 21:26:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112]
9577
+ 05/09 21:27:03 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174]
9578
+ 05/09 21:27:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes [pipeline.py: 238]
9579
+ 05/09 21:27:03 INFO: [Worker 0] Preparing episode data: 296 timesteps [save_utils.py: 278]
fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5 CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:a7ffd443668f44216e2d2c2646914ccd0645c57465a61ced059a577c6affd7f3
3
- size 1948536014
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d0b947ad0d0f421dca1f635693b2921fcf9c58814b02c176bd2c16c97d7fca8e
3
+ size 2045708551
fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5 CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:79cf1d4bdde57299883a480caafd0029f7c99c4e8d0fd9e8e75abd5d01d555b9
3
- size 1796763351
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:983d202fe92bb52156d71e92c06f9ae2727ba6fa0a95342d5cd1d8c5b83a1ef0
3
+ size 1881486454
fridge1_minimal_wall/trajectories_batch_4_of_4_cam_rand.h5 CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:6233401967b100b1891022303c25354a3074fe2e67dcaa8dbb70c489d3853fe8
3
- size 2073492722
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dc220051b465a4a2103e1ee5d33906c5889b266349833919f8d245edf9b01998
3
+ size 2154622434