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b/fridge_m/sim_chunks/chunk_101/episode_00000012_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56b0099db1c21c5715019d7d0aef596bac8a3763673bc5bc5ce6f6acbeee22af +size 449329 diff --git a/fridge_m/sim_chunks/chunk_101/running_log.log b/fridge_m/sim_chunks/chunk_101/running_log.log index 602f77907a8568db90ca2cede5f3158f080e4757..18ca8b3deaa4e0db5410c5993b2d656286feffb0 100644 --- a/fridge_m/sim_chunks/chunk_101/running_log.log +++ b/fridge_m/sim_chunks/chunk_101/running_log.log @@ -4579,3 +4579,373 @@ 05/11 14:27:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] 05/11 14:27:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] 05/11 14:27:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:27:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:27:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:27:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:28:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:28:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:28:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:28:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:28:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:28:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:28:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:28:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:28:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:28:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:28:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 14:28:15 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.284s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:28:15 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.279[deg] [grasp_sample.py: 539] +05/11 14:28:17 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:28:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:28:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:28:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:28:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:28:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:28:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:28:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:28:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:28:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022570m [env.py: 870] +05/11 14:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:28:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99850716 0.90211416 0.02256953] yaw=-145.3deg [env.py: 1019] +05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.72936331 0.36441778 0.02256953] yaw=163.6deg [env.py: 1019] +05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.13261516 1.17079431 0.02256953] yaw=-132.4deg [env.py: 1019] +05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:28:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=246.0ms, total=246.0ms [env.py: 1075] +05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.999, 0.902, 0.023) [env.py: 1079] +05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.3 deg [env.py: 1082] +05/11 14:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m [env.py: 1086] +05/11 14:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:28:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:28:19 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 14:28:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/11 14:28:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:28:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:28:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:28:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.815s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:28:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.385[m] 84.884[deg] [grasp_sample.py: 539] +05/11 14:28:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:28:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:28:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:28:39 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:28:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:28:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:29:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:29:08 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:29:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 14:29:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:29:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:29:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:29:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.76s (batch: 3.60s, save: 11.16s) [pipeline.py: 300] +05/11 14:29:24 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.93s: + episode_total: mean=91.41s, total=182.81s, count=2, min=4367.2ms, max=178445.7ms + sensor_polling: mean=403.8ms, total=121.15s, count=300, min=323.0ms, max=832.1ms + save_trajectories: mean=11.16s, total=11.16s, count=1, min=11162.1ms, max=11162.1ms + physics_step: mean=26.1ms, total=7.82s, count=300, min=17.1ms, max=70.6ms + save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3600.6ms, max=3600.6ms + task_sampling: mean=466.0ms, total=932.0ms, count=2, min=367.3ms, max=564.7ms + task_specific_sample: mean=462.6ms, total=925.2ms, count=2, min=364.2ms, max=560.9ms + scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.1ms, max=2.4ms + mj_forward_sync: mean=454.9us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=13.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:29:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:29:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:29:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:29:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:29:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:29:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:29:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063352m [env.py: 870] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:29:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75347489 0.49887645 0.06335249] yaw=-189.9deg [env.py: 1019] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82436946 0.66565393 0.06335249] yaw=-174.4deg [env.py: 1019] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.17307173 1.12108882 0.06335249] yaw=-121.6deg [env.py: 1019] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:29:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=314.1ms, total=314.1ms [env.py: 1075] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.499, 0.063) [env.py: 1079] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.9 deg [env.py: 1082] +05/11 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/11 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:29:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:29:26 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 14:29:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s [base_object_manipulation_planner_policy.py: 377] +05/11 14:29:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:29:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:29:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.153s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:29:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.270s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:29:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.493[m] 87.428[deg] [grasp_sample.py: 539] +05/11 14:29:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:29:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:29:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:29:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:30:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:30:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:30:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:30:30 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:31:05 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:31:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 14:31:05 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/11 14:31:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:31:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:31:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 16.91s (batch: 4.35s, save: 12.56s) [pipeline.py: 300] +05/11 14:31:22 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.42s: + episode_total: mean=155.83s, total=311.65s, count=2, min=128125.9ms, max=183528.5ms + sensor_polling: mean=399.5ms, total=218.54s, count=547, min=316.1ms, max=817.3ms + physics_step: mean=26.1ms, total=14.30s, count=547, min=21.5ms, max=79.6ms + save_trajectories: mean=12.56s, total=12.56s, count=1, min=12556.2ms, max=12556.2ms + save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4351.3ms, max=4351.3ms + task_sampling: mean=709.5ms, total=1.42s, count=2, min=541.7ms, max=877.3ms + task_specific_sample: mean=706.1ms, total=1.41s, count=2, min=538.7ms, max=873.6ms + scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms + mj_forward_sync: mean=464.2us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=14.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:31:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:31:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:31:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:31:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:31:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:31:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:31:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:31:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:31:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030734m [env.py: 870] +05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:31:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66584225 0.50674071 0.03073357] yaw=-188.3deg [env.py: 1019] +05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86225833 1.10217064 0.03073357] yaw=-150.4deg [env.py: 1019] +05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.74361397 0.26431534 0.03073357] yaw=177.1deg [env.py: 1019] +05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:31:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=339.1ms, total=339.2ms [env.py: 1075] +05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.666, 0.507, 0.031) [env.py: 1079] +05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.3 deg [env.py: 1082] +05/11 14:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086] +05/11 14:31:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:31:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:31:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:31:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:31:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:31:24 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 14:31:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/11 14:31:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:31:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:31:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:31:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.767s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:31:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.609[m] 92.056[deg] [grasp_sample.py: 539] +05/11 14:31:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:31:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:31:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:31:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:31:46 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:32:14 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:32:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 14:32:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:32:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:32:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:32:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:32:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:32:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 17.31s (batch: 4.25s, save: 13.06s) [pipeline.py: 300] +05/11 14:32:32 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.65s: + episode_total: mean=186.38s, total=186.38s, count=1, min=186380.6ms, max=186380.6ms + sensor_polling: mean=413.4ms, total=124.03s, count=300, min=343.3ms, max=918.5ms + save_trajectories: mean=13.06s, total=13.06s, count=1, min=13059.0ms, max=13059.0ms + physics_step: mean=28.8ms, total=8.63s, count=300, min=19.6ms, max=94.9ms + save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4251.7ms, max=4251.7ms + task_sampling: mean=647.2ms, total=647.2ms, count=1, min=647.2ms, max=647.2ms + task_specific_sample: mean=642.9ms, total=642.9ms, count=1, min=642.9ms, max=642.9ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=571.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=28.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:32:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:32:33 WARNING: [Worker 0] No trajectory data to save for chunk_101 [pipeline.py: 234] +05/11 14:32:33 WARNING: [Worker 0] No trajectory data to save for chunk_101 [pipeline.py: 234] +05/11 14:32:33 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes [pipeline.py: 1323] +05/11 14:32:33 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5037.37s + House averages: + episode_total: mean=155.16s, total=2792.92s, count=18, min=3741.5ms, max=246747.1ms + sensor_polling: mean=425.5ms, total=1886.18s, count=4433, min=313.2ms, max=1237.5ms + save_trajectories: mean=12.48s, total=149.81s, count=12, min=11162.1ms, max=14402.5ms + physics_step: mean=28.6ms, total=126.90s, count=4433, min=17.0ms, max=113.7ms + save_batch_prep: mean=4.09s, total=49.13s, count=12, min=3456.7ms, max=4991.3ms + task_sampling: mean=771.4ms, total=13.89s, count=18, min=367.3ms, max=3947.2ms + task_specific_sample: mean=585.0ms, total=10.53s, count=18, min=364.2ms, max=829.5ms + scene_load: mean=3.29s, total=3.29s, count=1, min=3287.2ms, max=3287.2ms + scene_env_create: mean=1.88s, total=1.88s, count=1, min=1881.3ms, max=1881.3ms + scene_compile: mean=1.21s, total=1.21s, count=1, min=1209.0ms, max=1209.0ms + compile_mujoco: mean=712.3ms, total=712.3ms, count=1, min=712.3ms, max=712.3ms + compile_xml_load: mean=316.8ms, total=316.8ms, count=1, min=316.8ms, max=316.8ms + compile_aux_objects: mean=148.9ms, total=148.9ms, count=1, min=148.9ms, max=148.9ms + compile_aux_policy_objects: mean=148.9ms, total=148.9ms, count=1, min=148.9ms, max=148.9ms + scene_init: mean=142.5ms, total=142.5ms, count=1, min=142.5ms, max=142.5ms + scene_asset_install: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + scene_randomize: mean=2.1ms, total=38.0ms, count=18, min=1.1ms, max=3.2ms + asset_install_grasps: mean=37.0ms, total=37.0ms, count=1, min=37.0ms, max=37.0ms + compile_robot_add: mean=22.3ms, total=22.3ms, count=1, min=22.3ms, max=22.3ms + asset_install_objects: mean=12.4ms, total=12.4ms, count=1, min=12.4ms, max=12.4ms + mj_forward_sync: mean=521.3us, total=9.4ms, count=18, min=0.5ms, max=0.7ms + asset_install_scene: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms + policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 14:32:33 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 14:32:33 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5037.37s + Worker averages: + episode_total: mean=155.16s, total=2792.92s, count=18, min=3741.5ms, max=246747.1ms + sensor_polling: mean=425.5ms, total=1886.18s, count=4433, min=313.2ms, max=1237.5ms + save_trajectories: mean=12.48s, total=149.81s, count=12, min=11162.1ms, max=14402.5ms + physics_step: mean=28.6ms, total=126.90s, count=4433, min=17.0ms, max=113.7ms + save_batch_prep: mean=4.09s, total=49.13s, count=12, min=3456.7ms, max=4991.3ms + task_sampling: mean=771.4ms, total=13.89s, count=18, min=367.3ms, max=3947.2ms + task_specific_sample: mean=585.0ms, total=10.53s, count=18, min=364.2ms, max=829.5ms + scene_load: mean=3.29s, total=3.29s, count=1, min=3287.2ms, max=3287.2ms + scene_env_create: mean=1.88s, total=1.88s, count=1, min=1881.3ms, max=1881.3ms + scene_compile: mean=1.21s, total=1.21s, count=1, min=1209.0ms, max=1209.0ms + compile_mujoco: mean=712.3ms, total=712.3ms, count=1, min=712.3ms, max=712.3ms + compile_xml_load: mean=316.8ms, total=316.8ms, count=1, min=316.8ms, max=316.8ms + compile_aux_objects: mean=148.9ms, total=148.9ms, count=1, min=148.9ms, max=148.9ms + compile_aux_policy_objects: mean=148.9ms, total=148.9ms, count=1, min=148.9ms, max=148.9ms + scene_init: mean=142.5ms, total=142.5ms, count=1, min=142.5ms, max=142.5ms + scene_asset_install: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + scene_randomize: mean=2.1ms, total=38.0ms, count=18, min=1.1ms, max=3.2ms + asset_install_grasps: mean=37.0ms, total=37.0ms, count=1, min=37.0ms, max=37.0ms + compile_robot_add: mean=22.3ms, total=22.3ms, count=1, min=22.3ms, max=22.3ms + asset_install_objects: mean=12.4ms, total=12.4ms, count=1, min=12.4ms, max=12.4ms + mj_forward_sync: mean=521.3us, total=9.4ms, count=18, min=0.5ms, max=0.7ms + asset_install_scene: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms + policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 14:32:36 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 14:32:36 INFO: Success count: 12, Total count: 12 [pipeline.py: 1491] +05/11 14:32:36 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/11 14:33:38 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:34:06 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:34:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 14:34:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:34:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:34:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:34:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.38s (batch: 3.27s, save: 11.11s) [pipeline.py: 300] +05/11 14:34:20 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.66s: + episode_total: mean=176.95s, total=176.95s, count=1, min=176951.1ms, max=176951.1ms + sensor_polling: mean=404.4ms, total=121.33s, count=300, min=340.2ms, max=753.6ms + save_trajectories: mean=11.11s, total=11.11s, count=1, min=11108.0ms, max=11108.0ms + physics_step: mean=27.7ms, total=8.31s, count=300, min=16.9ms, max=87.5ms + save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3270.4ms, max=3270.4ms + task_sampling: mean=663.8ms, total=663.8ms, count=1, min=663.8ms, max=663.8ms + task_specific_sample: mean=660.0ms, total=660.0ms, count=1, min=660.0ms, max=660.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=458.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:34:22 WARNING: [Worker 0] No trajectory data to save for chunk_101 [pipeline.py: 234] +05/11 14:34:22 WARNING: [Worker 0] No trajectory data to save for chunk_101 [pipeline.py: 234] +05/11 14:34:22 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes [pipeline.py: 1323] +05/11 14:34:22 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5219.77s + House averages: + episode_total: mean=161.28s, total=2903.07s, count=18, min=2551.9ms, max=237065.6ms + sensor_polling: mean=419.2ms, total=1935.79s, count=4618, min=314.3ms, max=1386.8ms + save_trajectories: mean=12.46s, total=162.02s, count=13, min=11108.0ms, max=15911.9ms + physics_step: mean=28.1ms, total=129.76s, count=4618, min=15.4ms, max=155.8ms + save_batch_prep: mean=4.24s, total=55.13s, count=13, min=3270.4ms, max=4809.0ms + task_sampling: mean=791.8ms, total=14.25s, count=18, min=426.6ms, max=4430.3ms + task_specific_sample: mean=570.6ms, total=10.27s, count=18, min=422.2ms, max=873.6ms + scene_load: mean=3.90s, total=3.90s, count=1, min=3897.4ms, max=3897.4ms + scene_env_create: mean=2.20s, total=2.20s, count=1, min=2204.0ms, max=2204.0ms + scene_compile: mean=1.52s, total=1.52s, count=1, min=1515.6ms, max=1515.6ms + compile_mujoco: mean=835.3ms, total=835.3ms, count=1, min=835.3ms, max=835.3ms + compile_xml_load: mean=592.4ms, total=592.4ms, count=1, min=592.4ms, max=592.4ms + scene_init: mean=119.3ms, total=119.3ms, count=1, min=119.3ms, max=119.3ms + scene_asset_install: mean=58.2ms, total=58.2ms, count=1, min=58.2ms, max=58.2ms + compile_aux_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms + compile_aux_policy_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms + scene_randomize: mean=2.6ms, total=46.2ms, count=18, min=1.1ms, max=6.2ms + asset_install_grasps: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms + compile_robot_add: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms + asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms + mj_forward_sync: mean=534.4us, total=9.6ms, count=18, min=0.5ms, max=0.7ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=21.9us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 14:34:22 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 14:34:22 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5219.77s + Worker averages: + episode_total: mean=161.28s, total=2903.07s, count=18, min=2551.9ms, max=237065.6ms + sensor_polling: mean=419.2ms, total=1935.79s, count=4618, min=314.3ms, max=1386.8ms + save_trajectories: mean=12.46s, total=162.02s, count=13, min=11108.0ms, max=15911.9ms + physics_step: mean=28.1ms, total=129.76s, count=4618, min=15.4ms, max=155.8ms + save_batch_prep: mean=4.24s, total=55.13s, count=13, min=3270.4ms, max=4809.0ms + task_sampling: mean=791.8ms, total=14.25s, count=18, min=426.6ms, max=4430.3ms + task_specific_sample: mean=570.6ms, total=10.27s, count=18, min=422.2ms, max=873.6ms + scene_load: mean=3.90s, total=3.90s, count=1, min=3897.4ms, max=3897.4ms + scene_env_create: mean=2.20s, total=2.20s, count=1, min=2204.0ms, max=2204.0ms + scene_compile: mean=1.52s, total=1.52s, count=1, min=1515.6ms, max=1515.6ms + compile_mujoco: mean=835.3ms, total=835.3ms, count=1, min=835.3ms, max=835.3ms + compile_xml_load: mean=592.4ms, total=592.4ms, count=1, min=592.4ms, max=592.4ms + scene_init: mean=119.3ms, total=119.3ms, count=1, min=119.3ms, max=119.3ms + scene_asset_install: mean=58.2ms, total=58.2ms, count=1, min=58.2ms, max=58.2ms + compile_aux_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms + compile_aux_policy_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms + scene_randomize: mean=2.6ms, total=46.2ms, count=18, min=1.1ms, max=6.2ms + asset_install_grasps: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms + compile_robot_add: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms + asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms + mj_forward_sync: mean=534.4us, total=9.6ms, count=18, min=0.5ms, max=0.7ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=21.9us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 14:34:25 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 14:34:25 INFO: Success count: 13, Total count: 13 [pipeline.py: 1491] +05/11 14:34:25 INFO: Success rate: 100.00% 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'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_102'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 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'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 14:36:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 14:36:01 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 14:36:01 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 14:36:01 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 14:36:01 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 14:36:01 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 14:36:01 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_102'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40204, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 14:36:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 14:36:01 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 14:36:01 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 14:36:01 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 14:36:01 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 14:36:01 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 14:36:01 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_102'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40201, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 14:36:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 14:36:01 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 14:36:01 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 14:36:01 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 14:36:01 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 14:36:01 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 14:36:01 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_102'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40202, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 14:36:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 14:36:01 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 14:36:01 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 14:36:02 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 14:36:02 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 14:36:02 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 14:36:02 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 14:36:07 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 14:36:07 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 14:36:07 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 14:36:07 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 14:36:07 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 14:36:07 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 14:36:07 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 14:36:07 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 14:36:07 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 14:36:07 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 14:36:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:36:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:36:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:36:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:36:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:36:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022472m [env.py: 870] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:36:07 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 14:36:07 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 14:36:07 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 14:36:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:36:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:36:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:36:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:36:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:36:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082090m [env.py: 870] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:36:07 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 14:36:07 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 14:36:07 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 14:36:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:36:07 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 14:36:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:36:07 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:36:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:36:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:36:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:36:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:36:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:36:07 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] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003781m [env.py: 870] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:36:07 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 14:36:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:36:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:36:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:36:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086135m [env.py: 870] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:36:07 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81008927 0.51412188 0.02247151] yaw=-168.5deg [env.py: 1019] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72059221 0.27934869 0.0861351 ] yaw=160.7deg [env.py: 1019] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68477066 0.4251405 0.00378069] yaw=167.8deg [env.py: 1019] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95789215 0.39004145 0.08209038] yaw=169.4deg [env.py: 1019] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89858089 0.52541446 0.0861351 ] yaw=-175.0deg [env.py: 1019] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85990591 1.12727469 0.00378069] yaw=-153.9deg [env.py: 1019] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63795906 0.53717902 0.0861351 ] yaw=-177.3deg [env.py: 1019] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:36:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=21.7ms, retries=317.0ms, total=338.7ms [env.py: 1075] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.721, 0.279, 0.086) [env.py: 1079] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.7 deg [env.py: 1082] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82618695 1.01598716 0.02247151] yaw=-159.9deg [env.py: 1019] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 123.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71918023 0.83770072 0.02247151] yaw=-157.8deg [env.py: 1019] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:36:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=35.8ms, retries=503.6ms, total=539.4ms [env.py: 1075] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.810, 0.514, 0.022) [env.py: 1079] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.5 deg [env.py: 1082] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.60747716 0.43354314 0.08209038] yaw=166.9deg [env.py: 1019] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98693738 1.07619524 0.00378069] yaw=-139.7deg [env.py: 1019] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:36:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=23.1ms, retries=565.3ms, total=588.4ms [env.py: 1075] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.685, 0.425, 0.004) [env.py: 1079] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.8 deg [env.py: 1082] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m [env.py: 1086] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:36:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:36:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=21.9ms, retries=747.1ms, total=769.0ms [env.py: 1075] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.390, 0.082) [env.py: 1079] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.4 deg [env.py: 1082] +05/11 14:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.750m [env.py: 1086] +05/11 14:36:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:36:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:36:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:36:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:36:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:36:08 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 14:36:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:36:08 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 14:36:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:36:08 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 14:36:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:36:08 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 14:36:46 INFO: [Worker 0] Warmed up parallel IK solver in 37.895s [base_object_manipulation_planner_policy.py: 377] +05/11 14:36:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:36:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:36:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.130s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:36:47 INFO: [Worker 0] Warmed up parallel IK solver in 39.050s [base_object_manipulation_planner_policy.py: 377] +05/11 14:36:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:36:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:36:47 INFO: [Worker 0] Warmed up parallel IK solver in 39.170s [base_object_manipulation_planner_policy.py: 377] +05/11 14:36:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:36:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:36:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:36:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:36:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.446s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:36:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.276[m] 81.550[deg] [grasp_sample.py: 539] +05/11 14:36:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:36:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:36:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:36:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.419s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:36:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.598[m] 98.945[deg] [grasp_sample.py: 539] +05/11 14:36:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:36:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.444s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:36:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.443[m] 84.692[deg] [grasp_sample.py: 539] +05/11 14:36:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:36:49 INFO: [Worker 0] Warmed up parallel IK solver in 40.832s [base_object_manipulation_planner_policy.py: 377] +05/11 14:36:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:36:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:36:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.153s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:36:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:36:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:36:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:36:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:36:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:36:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:36:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.423s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:36:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.575[m] 88.392[deg] [grasp_sample.py: 539] +05/11 14:36:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:36:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:36:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:36:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:37:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:37:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:37:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:37:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:37:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:37:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:37:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:37:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:37:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:37:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:37:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:37:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:38:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:38:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:38:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:38:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:38:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:38:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:38:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:38:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 14:38:16 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.004s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:38:16 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.509[deg] [grasp_sample.py: 539] +05/11 14:38:18 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:38:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:38:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:38:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:38:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:38:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:38:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:38:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:38:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073171m [env.py: 870] +05/11 14:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:38:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.83270037 0.84409307 0.07317089] yaw=-159.1deg [env.py: 1019] +05/11 14:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:38:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=360.6ms, total=360.7ms [env.py: 1075] +05/11 14:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.844, 0.073) [env.py: 1079] +05/11 14:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.1 deg [env.py: 1082] +05/11 14:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/11 14:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:38:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:38:20 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 14:38:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/11 14:38:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:38:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:38:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:38:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:38:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.118s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:38:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.498[m] 86.030[deg] [grasp_sample.py: 539] +05/11 14:38:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:38:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:38:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:38:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:38:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:38:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:38:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:38:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:38:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:38:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:38:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:38:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:38:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 14:38:36 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.619s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:38:36 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.214[deg] [grasp_sample.py: 539] +05/11 14:38:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:38:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:38:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:38:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:38:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:38:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:39:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:39:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:39:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:39:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:39:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:39:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:39:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:39:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:39:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:39:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:39:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:39:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:39:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:39:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 14:39:18 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:39:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:39:20 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.338s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:39:20 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.905[deg] [grasp_sample.py: 539] +05/11 14:39:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:39:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:39:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:39:22 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:39:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:39:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:39:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:39:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:39:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:39:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:39:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:39:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:39:48 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:39:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 14:39:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:39:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:39:52 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:39:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 14:39:52 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:39:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:39:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:39:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:39:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:39:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:39:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:39:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:39:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 68 non-colliding grasps [grasp_sample.py: 465] +05/11 14:40:01 INFO: [Worker 0] Feasibility-checked 68 grasps in 4.781s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:40:01 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.033[m] 12.349[deg] [grasp_sample.py: 539] +05/11 14:40:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:40:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:40:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:40:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:40:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:40:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.93s (batch: 4.88s, save: 12.05s) [pipeline.py: 300] +05/11 14:40:06 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=6.56s: + episode_total: mean=244.99s, total=244.99s, count=1, min=244985.7ms, max=244985.7ms + sensor_polling: mean=454.8ms, total=136.44s, count=300, min=344.1ms, max=760.5ms + save_trajectories: mean=12.05s, total=12.05s, count=1, min=12047.6ms, max=12047.6ms + physics_step: mean=29.5ms, total=8.86s, count=300, min=22.3ms, max=76.2ms + task_sampling: mean=6.56s, total=6.56s, count=1, min=6563.5ms, max=6563.5ms + scene_load: mean=5.65s, total=5.65s, count=1, min=5654.2ms, max=5654.2ms + save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4882.9ms, max=4882.9ms + scene_env_create: mean=3.64s, total=3.64s, count=1, min=3643.9ms, max=3643.9ms + scene_compile: mean=1.69s, total=1.69s, count=1, min=1693.2ms, max=1693.2ms + compile_mujoco: mean=1.20s, total=1.20s, count=1, min=1200.1ms, max=1200.1ms + task_specific_sample: mean=906.7ms, total=906.7ms, count=1, min=906.7ms, max=906.7ms + compile_xml_load: mean=390.5ms, total=390.5ms, count=1, min=390.5ms, max=390.5ms + scene_asset_install: mean=190.9ms, total=190.9ms, count=1, min=190.9ms, max=190.9ms + scene_init: mean=125.8ms, total=125.8ms, count=1, min=125.8ms, max=125.8ms + asset_install_objects: mean=118.1ms, total=118.1ms, count=1, min=118.1ms, max=118.1ms + asset_install_grasps: mean=68.7ms, total=68.7ms, count=1, min=68.7ms, max=68.7ms + compile_aux_objects: mean=60.6ms, total=60.6ms, count=1, min=60.6ms, max=60.6ms + compile_aux_policy_objects: mean=60.6ms, total=60.6ms, count=1, min=60.6ms, max=60.6ms + compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms + asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=447.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=26.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:40:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:40:07 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 14:40:07 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=6.59s: + episode_total: mean=246.41s, total=246.41s, count=1, min=246414.3ms, max=246414.3ms + sensor_polling: mean=447.9ms, total=134.37s, count=300, min=350.6ms, max=885.6ms + physics_step: mean=29.2ms, total=8.75s, count=300, min=16.7ms, max=87.3ms + task_sampling: mean=6.59s, total=6.59s, count=1, min=6588.4ms, max=6588.4ms + scene_load: mean=5.71s, total=5.71s, count=1, min=5712.4ms, max=5712.4ms + scene_env_create: mean=3.69s, total=3.69s, count=1, min=3689.0ms, max=3689.0ms + scene_compile: mean=1.79s, total=1.79s, count=1, min=1789.1ms, max=1789.1ms + compile_mujoco: mean=1.19s, total=1.19s, count=1, min=1192.6ms, max=1192.6ms + task_specific_sample: mean=873.2ms, total=873.2ms, count=1, min=873.2ms, max=873.2ms + compile_xml_load: mean=490.5ms, total=490.5ms, count=1, min=490.5ms, max=490.5ms + scene_init: mean=119.1ms, total=119.1ms, count=1, min=119.1ms, max=119.1ms + scene_asset_install: mean=114.9ms, total=114.9ms, count=1, min=114.9ms, max=114.9ms + asset_install_objects: mean=70.1ms, total=70.1ms, count=1, min=70.1ms, max=70.1ms + compile_aux_objects: mean=65.5ms, total=65.5ms, count=1, min=65.5ms, max=65.5ms + compile_aux_policy_objects: mean=65.5ms, total=65.5ms, count=1, min=65.5ms, max=65.5ms + asset_install_grasps: mean=38.8ms, total=38.8ms, count=1, min=38.8ms, max=38.8ms + compile_robot_add: mean=31.7ms, total=31.7ms, count=1, min=31.7ms, max=31.7ms + asset_install_scene: mean=5.9ms, total=5.9ms, count=1, min=5.9ms, max=5.9ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=470.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=32.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:40:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:40:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:40:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:40:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:40:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:40:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:40:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:40:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:40:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011182m [env.py: 870] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:40:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71863414 0.93080696 0.01118159] yaw=-163.2deg [env.py: 1019] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92568328 1.09274986 0.01118159] yaw=-152.8deg [env.py: 1019] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.62484314 0.43260575 0.01118159] yaw=177.9deg [env.py: 1019] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:40:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=153.4ms, total=153.5ms [env.py: 1075] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.719, 0.931, 0.011) [env.py: 1079] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.2 deg [env.py: 1082] +05/11 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m [env.py: 1086] +05/11 14:40:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:40:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:40:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:40:08 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 14:40:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/11 14:40:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:40:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:40:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:40:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:40:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:40:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.18s (batch: 4.49s, save: 11.70s) [pipeline.py: 300] +05/11 14:40:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:40:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:40:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:40:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:40:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:40:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:40:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:40:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:40:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:40:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:40:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059100m [env.py: 870] +05/11 14:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:40:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06130259 0.92069405 0.05910047] yaw=-142.8deg [env.py: 1019] +05/11 14:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08312182 1.15534804 0.05910047] yaw=-126.8deg [env.py: 1019] +05/11 14:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.13646477 1.07296031 0.05910047] yaw=-123.7deg [env.py: 1019] +05/11 14:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:40:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=200.3ms, total=200.3ms [env.py: 1075] +05/11 14:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.061, 0.921, 0.059) [env.py: 1079] +05/11 14:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.8 deg [env.py: 1082] +05/11 14:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.777m [env.py: 1086] +05/11 14:40:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:40:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:40:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:40:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:40:09 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=6.90s: + episode_total: mean=248.64s, total=248.64s, count=1, min=248644.1ms, max=248644.1ms + sensor_polling: mean=458.1ms, total=137.43s, count=300, min=327.0ms, max=871.0ms + save_trajectories: mean=11.70s, total=11.70s, count=1, min=11696.1ms, max=11696.1ms + physics_step: mean=33.1ms, total=9.93s, count=300, min=17.9ms, max=109.3ms + task_sampling: mean=6.90s, total=6.90s, count=1, min=6897.7ms, max=6897.7ms + scene_load: mean=5.93s, total=5.93s, count=1, min=5927.9ms, max=5927.9ms + save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4488.5ms, max=4488.5ms + scene_env_create: mean=3.76s, total=3.76s, count=1, min=3761.2ms, max=3761.2ms + scene_compile: mean=1.97s, total=1.97s, count=1, min=1970.9ms, max=1970.9ms + compile_mujoco: mean=1.13s, total=1.13s, count=1, min=1133.2ms, max=1133.2ms + task_specific_sample: mean=966.1ms, total=966.1ms, count=1, min=966.1ms, max=966.1ms + compile_xml_load: mean=744.4ms, total=744.4ms, count=1, min=744.4ms, max=744.4ms + scene_init: mean=116.4ms, total=116.4ms, count=1, min=116.4ms, max=116.4ms + scene_asset_install: mean=79.1ms, total=79.1ms, count=1, min=79.1ms, max=79.1ms + asset_install_grasps: mean=58.5ms, total=58.5ms, count=1, min=58.5ms, max=58.5ms + compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + compile_robot_add: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms + asset_install_objects: mean=16.2ms, total=16.2ms, count=1, min=16.2ms, max=16.2ms + asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=454.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:40:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:40:10 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 14:40:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/11 14:40:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:40:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:40:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:40:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.763s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:40:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.373[m] 91.698[deg] [grasp_sample.py: 539] +05/11 14:40:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:40:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.395s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:40:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.635[m] 92.082[deg] [grasp_sample.py: 539] +05/11 14:40:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:40:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:40:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:40:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:40:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:40:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:40:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:40:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:40:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:40:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:40:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092266m [env.py: 870] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:40:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03680732 1.13960542 0.09226592] yaw=-131.5deg [env.py: 1019] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71719112 0.64911954 0.09226592] yaw=-173.5deg [env.py: 1019] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.63296342 0.3523225 0.09226592] yaw=180.1deg [env.py: 1019] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:40:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=340.4ms, total=340.5ms [env.py: 1075] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.037, 1.140, 0.092) [env.py: 1079] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.5 deg [env.py: 1082] +05/11 14:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/11 14:40:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:40:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:40:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:40:12 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 14:40:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s [base_object_manipulation_planner_policy.py: 377] +05/11 14:40:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:40:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:40:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:40:12 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:40:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:40:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:40:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:40:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:40:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:40:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:40:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:40:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:40:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:40:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:40:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079307m [env.py: 870] +05/11 14:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:40:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70496128 0.55688728 0.07930701] yaw=-187.0deg [env.py: 1019] +05/11 14:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95808177 0.30957085 0.07930701] yaw=163.6deg [env.py: 1019] +05/11 14:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:40:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=542.2ms, total=542.2ms [env.py: 1075] +05/11 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.705, 0.557, 0.079) [env.py: 1079] +05/11 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -187.0 deg [env.py: 1082] +05/11 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/11 14:40:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:40:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:40:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:40:15 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 14:40:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/11 14:40:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:40:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:40:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:40:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.699s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:40:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.573[m] 92.643[deg] [grasp_sample.py: 539] +05/11 14:40:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:40:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:40:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:40:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:40:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 12.264s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:40:24 INFO: [Worker 0] Feasible grasp found 86 (originally 86): w/ 0.582[m] 109.158[deg] [grasp_sample.py: 539] +05/11 14:40:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:40:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:40:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:40:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:40:53 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:40:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:41:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:41:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:41:23 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:41:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 14:41:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:41:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:41:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:41:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:41:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:41:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:41:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:41:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:41:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 17.32s (batch: 4.26s, save: 13.05s) [pipeline.py: 300] +05/11 14:41:41 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=7.50s: + episode_total: mean=168.88s, total=337.76s, count=2, min=136676.0ms, max=201079.4ms + sensor_polling: mean=461.3ms, total=204.84s, count=444, min=339.0ms, max=877.4ms + physics_step: mean=30.8ms, total=13.67s, count=444, min=20.1ms, max=94.1ms + save_trajectories: mean=13.05s, total=13.05s, count=1, min=13054.8ms, max=13054.8ms + task_sampling: mean=3.75s, total=7.50s, count=2, min=664.7ms, max=6832.2ms + scene_load: mean=5.71s, total=5.71s, count=1, min=5714.2ms, max=5714.2ms + save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4264.8ms, max=4264.8ms + scene_env_create: mean=3.74s, total=3.74s, count=1, min=3743.7ms, max=3743.7ms + task_specific_sample: mean=888.4ms, total=1.78s, count=2, min=661.5ms, max=1115.2ms + scene_compile: mean=1.78s, total=1.78s, count=1, min=1775.1ms, max=1775.1ms + compile_mujoco: mean=1.13s, total=1.13s, count=1, min=1132.0ms, max=1132.0ms + compile_xml_load: mean=547.9ms, total=547.9ms, count=1, min=547.9ms, max=547.9ms + scene_init: mean=121.8ms, total=121.8ms, count=1, min=121.8ms, max=121.8ms + scene_asset_install: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms + compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + asset_install_grasps: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms + compile_robot_add: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms + asset_install_objects: mean=16.9ms, total=16.9ms, count=1, min=16.9ms, max=16.9ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + scene_randomize: mean=1.3ms, total=2.7ms, count=2, min=1.1ms, max=1.6ms + mj_forward_sync: mean=539.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=23.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:41:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:41:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:41:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:41:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:41:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:41:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:41:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:41:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:41:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082772m [env.py: 870] +05/11 14:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:41:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76496224 0.42331672 0.08277188] yaw=183.3deg [env.py: 1019] +05/11 14:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88700141 0.64539068 0.08277188] yaw=-167.6deg [env.py: 1019] +05/11 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:41:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=392.0ms, total=392.1ms [env.py: 1075] +05/11 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.765, 0.423, 0.083) [env.py: 1079] +05/11 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.3 deg [env.py: 1082] +05/11 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m [env.py: 1086] +05/11 14:41:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:41:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:41:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:41:43 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 14:41:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/11 14:41:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:41:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:41:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:41:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.723s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:41:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.504[m] 93.119[deg] [grasp_sample.py: 539] +05/11 14:41:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:41:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:41:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:41:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:42:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:42:39 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:42:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:42:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:42:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:42:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:42:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:42:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:42:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:42:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:42:50 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:42:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:42:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:42:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:42:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:42:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:42:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:42:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.105s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/11 14:42:55 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.315s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:42:55 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.173[m] 2.313[deg] [grasp_sample.py: 539] +05/11 14:42:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:42:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:42:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:43:05 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:43:08 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:43:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 14:43:08 INFO: [Worker 0] Preparing episode data: 298 timesteps [save_utils.py: 278] +05/11 14:43:20 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:43:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 14:43:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:43:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:43:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:43:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 17.48s (batch: 4.32s, save: 13.16s) [pipeline.py: 300] +05/11 14:43:27 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.47s: + episode_total: mean=197.34s, total=197.34s, count=1, min=197344.5ms, max=197344.5ms + sensor_polling: mean=455.2ms, total=135.20s, count=297, min=347.8ms, max=939.1ms + save_trajectories: mean=13.16s, total=13.16s, count=1, min=13161.8ms, max=13161.8ms + physics_step: mean=30.5ms, total=9.05s, count=297, min=22.8ms, max=106.8ms + save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4321.0ms, max=4321.0ms + task_sampling: mean=474.1ms, total=474.1ms, count=1, min=474.1ms, max=474.1ms + task_specific_sample: mean=471.2ms, total=471.2ms, count=1, min=471.2ms, max=471.2ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=560.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:43:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:43:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:43:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:43:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:43:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:43:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:43:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:43:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:43:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081416m [env.py: 870] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:43:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92537449 0.97912722 0.08141622] yaw=-142.1deg [env.py: 1019] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79138297 0.4381799 0.08141622] yaw=171.2deg [env.py: 1019] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9505069 0.97588426 0.08141622] yaw=-146.8deg [env.py: 1019] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:43:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=443.6ms, total=443.7ms [env.py: 1075] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.979, 0.081) [env.py: 1079] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.1 deg [env.py: 1082] +05/11 14:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/11 14:43:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:43:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:43:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:43:29 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 14:43:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s [base_object_manipulation_planner_policy.py: 377] +05/11 14:43:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:43:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:43:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:43:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.091s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:43:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.456[m] 83.465[deg] [grasp_sample.py: 539] +05/11 14:43:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:43:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:43:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:43:36 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:43:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 14:43:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:43:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:43:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:43:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 17.62s (batch: 4.81s, save: 12.81s) [pipeline.py: 300] +05/11 14:43:39 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.33s: + episode_total: mean=104.75s, total=209.51s, count=2, min=4656.2ms, max=204853.0ms + sensor_polling: mean=458.8ms, total=137.65s, count=300, min=354.1ms, max=866.4ms + save_trajectories: mean=12.81s, total=12.81s, count=1, min=12807.2ms, max=12807.2ms + physics_step: mean=33.5ms, total=10.06s, count=300, min=21.9ms, max=125.0ms + save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4808.2ms, max=4808.2ms + task_sampling: mean=666.3ms, total=1.33s, count=2, min=505.1ms, max=827.5ms + task_specific_sample: mean=662.2ms, total=1.32s, count=2, min=500.1ms, max=824.4ms + scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.3ms, max=3.2ms + mj_forward_sync: mean=629.3us, total=1.3ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=25.8us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:43:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:43:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:43:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:43:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:43:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:43:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:43:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:43:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:43:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076372m [env.py: 870] +05/11 14:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:43:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.63106823 0.58773785 0.07637196] yaw=-166.9deg [env.py: 1019] +05/11 14:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95957801 0.90979401 0.07637196] yaw=-138.9deg [env.py: 1019] +05/11 14:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83891856 0.41075076 0.07637196] yaw=178.8deg [env.py: 1019] +05/11 14:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:43:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.7ms, total=203.7ms [env.py: 1075] +05/11 14:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.631, 0.588, 0.076) [env.py: 1079] +05/11 14:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.9 deg [env.py: 1082] +05/11 14:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/11 14:43:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:43:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:43:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:43:41 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 14:43:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 14:43:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:43:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:43:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:43:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.518s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:43:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.665[m] 89.116[deg] [grasp_sample.py: 539] +05/11 14:43:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:43:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:43:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:43:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:43:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:43:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:43:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:43:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:43:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:43:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:43:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:43:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.80s (batch: 4.39s, save: 12.41s) [pipeline.py: 300] +05/11 14:43:53 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.66s: + episode_total: mean=221.99s, total=221.99s, count=1, min=221993.5ms, max=221993.5ms + sensor_polling: mean=445.6ms, total=133.69s, count=300, min=348.9ms, max=798.2ms + save_trajectories: mean=12.41s, total=12.41s, count=1, min=12410.6ms, max=12410.6ms + physics_step: mean=31.6ms, total=9.48s, count=300, min=21.9ms, max=113.8ms + save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4392.0ms, max=4392.0ms + task_sampling: mean=656.2ms, total=656.2ms, count=1, min=656.2ms, max=656.2ms + task_specific_sample: mean=652.0ms, total=652.0ms, count=1, min=652.0ms, max=652.0ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=596.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=25.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:43:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:43:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:43:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:43:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:43:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:43:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:43:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:43:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:43:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:43:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068329m [env.py: 870] +05/11 14:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:43:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06464179 0.92160459 0.06832948] yaw=-155.7deg [env.py: 1019] +05/11 14:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:43:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=248.7ms, total=248.8ms [env.py: 1075] +05/11 14:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.065, 0.922, 0.068) [env.py: 1079] +05/11 14:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.7 deg [env.py: 1082] +05/11 14:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.775m [env.py: 1086] +05/11 14:43:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:43:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:43:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:43:55 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 14:43:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/11 14:43:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:43:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:43:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:43:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:43:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.730s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:43:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.333[m] 78.214[deg] [grasp_sample.py: 539] +05/11 14:43:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:43:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:43:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:43:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:43:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:43:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:43:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:43:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:43:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 14:43:58 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.524s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:43:58 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.545[deg] [grasp_sample.py: 539] +05/11 14:43:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:43:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:43:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:44:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:44:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:44:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:44:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:44:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:44:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:44:23 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:44:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:44:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:44:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:44:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:44:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:44:57 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:44:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 14:44:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:44:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:45:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:45:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:45:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:45:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:45:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:45:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:45:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:45:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:45:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 17.91s (batch: 4.96s, save: 12.96s) [pipeline.py: 300] +05/11 14:45:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:45:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:45:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:45:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:45:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:45:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 14:45:16 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.69s: + episode_total: mean=213.38s, total=213.38s, count=1, min=213378.9ms, max=213378.9ms + sensor_polling: mean=437.4ms, total=131.21s, count=300, min=319.2ms, max=1027.9ms + save_trajectories: mean=12.96s, total=12.96s, count=1, min=12956.1ms, max=12956.1ms + physics_step: mean=30.9ms, total=9.28s, count=300, min=17.9ms, max=92.7ms + save_batch_prep: mean=4.96s, total=4.96s, count=1, min=4956.9ms, max=4956.9ms + task_sampling: mean=686.8ms, total=686.8ms, count=1, min=686.8ms, max=686.8ms + task_specific_sample: mean=682.7ms, total=682.7ms, count=1, min=682.7ms, max=682.7ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=464.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:45:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:45:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:45:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:45:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:45:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:45:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:45:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:45:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:45:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056752m [env.py: 870] +05/11 14:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:45:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87155963 0.17806456 0.05675193] yaw=153.3deg [env.py: 1019] +05/11 14:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:45:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=318.7ms, total=318.7ms [env.py: 1075] +05/11 14:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.872, 0.178, 0.057) [env.py: 1079] +05/11 14:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.3 deg [env.py: 1082] +05/11 14:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/11 14:45:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:45:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:45:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:45:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:45:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:45:18 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 14:45:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.149s [base_object_manipulation_planner_policy.py: 377] +05/11 14:45:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:45:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:45:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:45:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.197s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:45:19 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.467[m] 95.086[deg] [grasp_sample.py: 539] +05/11 14:45:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:45:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:45:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:45:37 INFO: [Worker 0] Feasibility-checked 78 grasps in 21.600s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:45:37 INFO: [Worker 0] Feasible grasp found 130 (originally 15): w/ 0.144[m] 11.976[deg] [grasp_sample.py: 539] +05/11 14:45:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:45:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:45:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:45:50 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:45:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:46:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:46:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:46:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:46:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:46:15 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:46:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:46:19 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:46:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 14:46:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:46:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:46:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:46:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.68s (batch: 3.69s, save: 12.99s) [pipeline.py: 300] +05/11 14:46:36 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.78s: + episode_total: mean=188.10s, total=188.10s, count=1, min=188096.7ms, max=188096.7ms + sensor_polling: mean=423.3ms, total=126.99s, count=300, min=311.4ms, max=962.8ms + save_trajectories: mean=12.99s, total=12.99s, count=1, min=12987.6ms, max=12987.6ms + physics_step: mean=29.5ms, total=8.84s, count=300, min=21.0ms, max=98.9ms + save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3689.2ms, max=3689.2ms + task_sampling: mean=782.0ms, total=782.0ms, count=1, min=782.0ms, max=782.0ms + task_specific_sample: mean=777.4ms, total=777.4ms, count=1, min=777.4ms, max=777.4ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=560.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=23.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:46:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:46:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:46:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:46:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:46:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:46:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:46:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:46:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:46:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:46:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:46:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057341m [env.py: 870] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:46:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74528149 0.10227922 0.05734099] yaw=161.9deg [env.py: 1019] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88609931 1.20373601 0.05734099] yaw=-136.6deg [env.py: 1019] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7162086 0.92895843 0.05734099] yaw=-153.8deg [env.py: 1019] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:46:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=326.3ms, total=326.4ms [env.py: 1075] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.745, 0.102, 0.057) [env.py: 1079] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.9 deg [env.py: 1082] +05/11 14:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m [env.py: 1086] +05/11 14:46:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:46:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:46:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:46:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:46:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:46:38 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 14:46:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/11 14:46:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:46:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:46:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:46:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.703s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:46:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.620[m] 99.510[deg] [grasp_sample.py: 539] +05/11 14:46:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:46:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:46:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:46:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:46:49 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:46:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 14:46:49 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/11 14:46:54 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 14:46:54 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=0.52s: + episode_total: mean=193.23s, total=193.23s, count=1, min=193225.1ms, max=193225.1ms + sensor_polling: mean=444.8ms, total=133.45s, count=300, min=327.9ms, max=886.7ms + physics_step: mean=30.9ms, total=9.26s, count=300, min=20.2ms, max=113.7ms + task_sampling: mean=517.4ms, total=517.4ms, count=1, min=517.4ms, max=517.4ms + task_specific_sample: mean=513.4ms, total=513.4ms, count=1, min=513.4ms, max=513.4ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=473.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:46:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:46:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:46:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:46:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:46:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:46:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:46:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:46:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:46:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:46:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:46:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031379m [env.py: 870] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:46:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99645098 0.73768931 0.03137949] yaw=-169.4deg [env.py: 1019] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87671701 0.29990176 0.03137949] yaw=175.0deg [env.py: 1019] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83703275 0.20638067 0.03137949] yaw=153.9deg [env.py: 1019] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:46:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=333.3ms, total=333.3ms [env.py: 1075] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.738, 0.031) [env.py: 1079] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.4 deg [env.py: 1082] +05/11 14:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m [env.py: 1086] +05/11 14:46:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:46:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:46:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:46:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:46:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:46:56 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 14:46:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/11 14:46:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:46:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:46:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:46:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.726s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:46:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.329[m] 94.861[deg] [grasp_sample.py: 539] +05/11 14:46:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:46:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:46:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:46:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:47:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:47:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:47:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 18.65s (batch: 4.90s, save: 13.76s) [pipeline.py: 300] +05/11 14:47:09 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.57s: + episode_total: mean=193.99s, total=193.99s, count=1, min=193990.5ms, max=193990.5ms + sensor_polling: mean=441.0ms, total=127.02s, count=288, min=321.6ms, max=838.2ms + save_trajectories: mean=13.76s, total=13.76s, count=1, min=13755.0ms, max=13755.0ms + physics_step: mean=30.1ms, total=8.67s, count=288, min=18.3ms, max=98.9ms + save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4898.2ms, max=4898.2ms + task_sampling: mean=572.2ms, total=572.2ms, count=1, min=572.2ms, max=572.2ms + task_specific_sample: mean=567.2ms, total=567.2ms, count=1, min=567.2ms, max=567.2ms + scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + mj_forward_sync: mean=645.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:47:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:47:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:47:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:47:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:47:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:47:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:47:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:47:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:47:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068384m [env.py: 870] +05/11 14:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:47:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.69455445 0.43276789 0.0683837 ] yaw=185.4deg [env.py: 1019] +05/11 14:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.6802045 0.66358181 0.0683837 ] yaw=-159.8deg [env.py: 1019] +05/11 14:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:47:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=504.6ms, total=504.7ms [env.py: 1075] +05/11 14:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.433, 0.068) [env.py: 1079] +05/11 14:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.4 deg [env.py: 1082] +05/11 14:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/11 14:47:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:47:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:47:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:47:11 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 14:47:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.155s [base_object_manipulation_planner_policy.py: 377] +05/11 14:47:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:47:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:47:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.114s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:47:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.859s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:47:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.608[m] 95.866[deg] [grasp_sample.py: 539] +05/11 14:47:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:47:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:47:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:47:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:47:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:47:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:47:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:47:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:47:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:47:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:47:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:47:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:47:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:47:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:47:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:47:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:47:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 14:47:30 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.613s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:47:30 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.117[deg] [grasp_sample.py: 539] +05/11 14:47:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:47:31 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:47:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:47:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:47:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:47:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:47:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:47:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:47:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:47:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:47:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099668m [env.py: 870] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:47:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79677006 0.68719246 0.09966824] yaw=-163.2deg [env.py: 1019] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64733203 0.62573534 0.09966824] yaw=-176.6deg [env.py: 1019] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82074361 0.89698675 0.09966824] yaw=-157.6deg [env.py: 1019] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:47:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=222.3ms, total=222.4ms [env.py: 1075] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.687, 0.100) [env.py: 1079] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.2 deg [env.py: 1082] +05/11 14:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/11 14:47:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:47:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:47:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:47:34 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 14:47:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/11 14:47:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:47:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:47:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:47:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.771s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:47:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.467[m] 83.529[deg] [grasp_sample.py: 539] +05/11 14:47:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:47:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:47:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:47:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:47:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:47:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:47:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:48:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:48:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:48:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:48:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:48:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:48:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:48:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:48:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:48:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:48:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:48:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:48:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:48:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:48:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:48:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:48:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:48:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:48:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:48:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:48:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 14:48:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.545s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:48:52 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.092[deg] [grasp_sample.py: 539] +05/11 14:48:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:48:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:48:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:48:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:48:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:49:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:49:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:49:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:49:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:49:23 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:49:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:49:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:49:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:49:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:49:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:49:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:49:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:49:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:49:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:49:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:49:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:49:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:49:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/11 14:49:40 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.404s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:49:40 INFO: [Worker 0] Feasible grasp found 13 (originally 13): w/ 0.170[m] 4.654[deg] [grasp_sample.py: 539] +05/11 14:49:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:49:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:49:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:49:43 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:49:53 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 14:49:53 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=0.65s: + episode_total: mean=195.40s, total=195.40s, count=1, min=195400.3ms, max=195400.3ms + sensor_polling: mean=474.9ms, total=142.47s, count=300, min=361.1ms, max=1035.0ms + physics_step: mean=31.4ms, total=9.42s, count=300, min=16.1ms, max=109.7ms + task_sampling: mean=651.4ms, total=651.4ms, count=1, min=651.4ms, max=651.4ms + task_specific_sample: mean=644.3ms, total=644.3ms, count=1, min=644.3ms, max=644.3ms + scene_randomize: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms + mj_forward_sync: mean=561.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=21.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:49:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:49:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:49:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:49:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:49:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:49:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:49:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:49:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:49:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018659m [env.py: 870] +05/11 14:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:49:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06369862 1.23065558 0.01865862] yaw=-134.9deg [env.py: 1019] +05/11 14:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8855871 0.72884034 0.01865862] yaw=-151.7deg [env.py: 1019] +05/11 14:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71043649 0.36068117 0.01865862] yaw=170.3deg [env.py: 1019] +05/11 14:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:49:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=429.8ms, total=429.8ms [env.py: 1075] +05/11 14:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.064, 1.231, 0.019) [env.py: 1079] +05/11 14:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.9 deg [env.py: 1082] +05/11 14:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/11 14:49:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:49:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:49:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:49:56 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 14:49:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s [base_object_manipulation_planner_policy.py: 377] +05/11 14:49:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:49:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:49:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.157s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:49:57 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:49:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 14:49:57 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/11 14:50:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.925s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:50:03 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.598[m] 87.791[deg] [grasp_sample.py: 539] +05/11 14:50:05 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:50:05 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:50:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:50:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:50:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:50:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:50:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:50:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:50:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:50:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:50:07 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] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016248m [env.py: 870] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:50:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8370663 0.22394458 0.01624838] yaw=155.2deg [env.py: 1019] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89053725 0.54269873 0.01624838] yaw=-183.8deg [env.py: 1019] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82187257 1.13681375 0.01624838] yaw=-144.9deg [env.py: 1019] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:50:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=320.9ms, total=321.0ms [env.py: 1075] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.837, 0.224, 0.016) [env.py: 1079] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.2 deg [env.py: 1082] +05/11 14:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/11 14:50:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:50:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:50:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:50:07 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 14:50:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/11 14:50:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:50:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:50:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:50:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.662s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:50:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.488[m] 96.259[deg] [grasp_sample.py: 539] +05/11 14:50:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:50:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:50:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:50:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:50:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:50:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:50:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.80s (batch: 4.56s, save: 12.24s) [pipeline.py: 300] +05/11 14:50:14 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.64s: + episode_total: mean=199.23s, total=199.23s, count=1, min=199234.1ms, max=199234.1ms + sensor_polling: mean=464.3ms, total=133.26s, count=287, min=351.9ms, max=1018.4ms + save_trajectories: mean=12.24s, total=12.24s, count=1, min=12243.4ms, max=12243.4ms + physics_step: mean=30.5ms, total=8.76s, count=287, min=20.6ms, max=93.7ms + save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4560.1ms, max=4560.1ms + task_sampling: mean=635.7ms, total=635.7ms, count=1, min=635.7ms, max=635.7ms + task_specific_sample: mean=632.0ms, total=632.0ms, count=1, min=632.0ms, max=632.0ms + scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms + mj_forward_sync: mean=552.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:50:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:50:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:50:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:50:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:50:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:50:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:50:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:50:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:50:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:50:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:50:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010876m [env.py: 870] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:50:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14000858 0.99636001 0.01087646] yaw=-134.6deg [env.py: 1019] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.14810736 1.1784724 0.01087646] yaw=-117.9deg [env.py: 1019] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10381664 1.12394717 0.01087646] yaw=-128.0deg [env.py: 1019] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:50:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.5ms, total=178.6ms [env.py: 1075] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.140, 0.996, 0.011) [env.py: 1079] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.6 deg [env.py: 1082] +05/11 14:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.762m [env.py: 1086] +05/11 14:50:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:50:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:50:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:50:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:50:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:50:16 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 14:50:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/11 14:50:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:50:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:50:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:50:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:50:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.332[m] 81.546[deg] [grasp_sample.py: 539] +05/11 14:50:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:50:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:50:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:50:20 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:50:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 14:50:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:50:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:50:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:50:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.49s (batch: 4.46s, save: 12.03s) [pipeline.py: 300] +05/11 14:50:36 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:50:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 14:50:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:50:37 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.86s: + episode_total: mean=206.44s, total=206.44s, count=1, min=206438.8ms, max=206438.8ms + sensor_polling: mean=456.5ms, total=136.96s, count=300, min=353.7ms, max=827.5ms + save_trajectories: mean=12.03s, total=12.03s, count=1, min=12027.1ms, max=12027.1ms + physics_step: mean=29.5ms, total=8.84s, count=300, min=22.4ms, max=94.9ms + save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4460.1ms, max=4460.1ms + task_sampling: mean=857.3ms, total=857.3ms, count=1, min=857.3ms, max=857.3ms + task_specific_sample: mean=852.8ms, total=852.8ms, count=1, min=852.8ms, max=852.8ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=582.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=23.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:50:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:50:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:50:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:50:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:50:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:50:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:50:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:50:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:50:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:50:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:50:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016974m [env.py: 870] +05/11 14:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:50:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71769923 0.07003282 0.01697391] yaw=161.3deg [env.py: 1019] +05/11 14:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82825603 0.19062278 0.01697391] yaw=153.2deg [env.py: 1019] +05/11 14:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73507649 0.29939406 0.01697391] yaw=176.3deg [env.py: 1019] +05/11 14:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:50:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=373.9ms, total=374.0ms [env.py: 1075] +05/11 14:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.070, 0.017) [env.py: 1079] +05/11 14:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.3 deg [env.py: 1082] +05/11 14:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m [env.py: 1086] +05/11 14:50:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:50:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:50:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:50:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:50:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:50:39 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 14:50:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377] +05/11 14:50:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:50:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:50:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:50:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.678s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:50:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.588[m] 78.597[deg] [grasp_sample.py: 539] +05/11 14:50:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:50:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:50:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:50:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:50:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:50:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:50:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:50:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 17.73s (batch: 4.72s, save: 13.01s) [pipeline.py: 300] +05/11 14:50:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:50:54 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.22s: + episode_total: mean=167.78s, total=335.56s, count=2, min=134093.8ms, max=201468.7ms + sensor_polling: mean=451.9ms, total=242.68s, count=537, min=339.0ms, max=961.9ms + physics_step: mean=30.2ms, total=16.23s, count=537, min=21.2ms, max=100.9ms + save_trajectories: mean=13.01s, total=13.01s, count=1, min=13005.8ms, max=13005.8ms + save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4721.0ms, max=4721.0ms + task_sampling: mean=609.2ms, total=1.22s, count=2, min=533.6ms, max=684.7ms + task_specific_sample: mean=605.4ms, total=1.21s, count=2, min=530.6ms, max=680.3ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.0ms + mj_forward_sync: mean=468.2us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=21.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:50:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:50:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:50:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:50:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:50:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:50:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:50:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:50:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:50:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:50:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:50:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:50:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072960m [env.py: 870] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:50:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14992457 0.99027224 0.07295961] yaw=-138.1deg [env.py: 1019] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72742769 0.90739944 0.07295961] yaw=-167.4deg [env.py: 1019] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87727284 0.29760866 0.07295961] yaw=166.7deg [env.py: 1019] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:50:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=237.3ms, total=237.4ms [env.py: 1075] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.150, 0.990, 0.073) [env.py: 1079] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.1 deg [env.py: 1082] +05/11 14:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m [env.py: 1086] +05/11 14:50:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:50:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:50:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:50:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:50:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:50:57 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 14:50:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/11 14:50:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:50:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:50:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:50:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.026s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:50:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.353[m] 92.399[deg] [grasp_sample.py: 539] +05/11 14:50:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:50:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:50:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:50:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:51:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:51:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:51:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:51:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:51:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:51:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:51:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:51:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:52:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:52:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:52:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:52:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:52:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:52:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:52:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:52:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:52:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:52:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:52:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:52:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:52:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:52:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:52:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:52:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:52:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:52:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:52:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.147s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 14:52:31 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.268s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:52:31 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.215[deg] [grasp_sample.py: 539] +05/11 14:52:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:52:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:52:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:52:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:52:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:52:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:52:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:52:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:52:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:52:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 14:52:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.172s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:52:37 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.319[deg] [grasp_sample.py: 539] +05/11 14:52:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:52:39 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:52:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:52:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:52:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:52:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:52:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:52:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:52:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068035m [env.py: 870] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:52:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77751057 0.43828926 0.06803478] yaw=171.8deg [env.py: 1019] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92168081 0.40982888 0.06803478] yaw=181.2deg [env.py: 1019] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68990462 0.84651947 0.06803478] yaw=-160.8deg [env.py: 1019] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:52:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=204.6ms, total=204.7ms [env.py: 1075] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.778, 0.438, 0.068) [env.py: 1079] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.8 deg [env.py: 1082] +05/11 14:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m [env.py: 1086] +05/11 14:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:52:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:52:41 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 14:52:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/11 14:52:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:52:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:52:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:52:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.615s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:52:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.466[m] 86.951[deg] [grasp_sample.py: 539] +05/11 14:52:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:52:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:52:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:52:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:52:45 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:53:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:53:09 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:53:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:53:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:53:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:53:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:53:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:53:20 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:53:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 14:53:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:53:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:53:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:53:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:53:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:53:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:53:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:53:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 14:53:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:53:26 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.316s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:53:26 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.388[deg] [grasp_sample.py: 539] +05/11 14:53:27 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:53:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:53:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:53:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:53:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:53:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:53:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:53:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022594m [env.py: 870] +05/11 14:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:53:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:53:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.4ms, total=193.4ms [env.py: 1105] +05/11 14:53:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 285] +05/11 14:53:29 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/11 14:53:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:53:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:53:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:53:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:53:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:53:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:53:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:53:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:53:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:53:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:53:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061090m [env.py: 870] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:53:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83907771 0.8790363 0.0610904 ] yaw=-147.5deg [env.py: 1019] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.7543264 0.99852117 0.0610904 ] yaw=-150.3deg [env.py: 1019] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01320361 0.1463123 0.0610904 ] yaw=158.6deg [env.py: 1019] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:53:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=230.8ms, total=230.8ms [env.py: 1075] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.879, 0.061) [env.py: 1079] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.5 deg [env.py: 1082] +05/11 14:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/11 14:53:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:53:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:53:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:53:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:53:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:53:31 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 14:53:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/11 14:53:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:53:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:53:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:53:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.849s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:53:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.486[m] 82.971[deg] [grasp_sample.py: 539] +05/11 14:53:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:53:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:53:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:53:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:53:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:53:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:53:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 15.56s (batch: 3.58s, save: 11.98s) [pipeline.py: 300] +05/11 14:53:36 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.40s: + episode_total: mean=109.36s, total=218.73s, count=2, min=9673.6ms, max=209054.4ms + sensor_polling: mean=434.3ms, total=130.30s, count=300, min=321.2ms, max=1015.1ms + save_trajectories: mean=11.98s, total=11.98s, count=1, min=11980.0ms, max=11980.0ms + physics_step: mean=30.6ms, total=9.19s, count=300, min=18.2ms, max=98.7ms + save_batch_prep: mean=3.58s, total=3.58s, count=1, min=3578.5ms, max=3578.5ms + task_sampling: mean=698.4ms, total=1.40s, count=2, min=630.9ms, max=765.9ms + task_specific_sample: mean=692.1ms, total=1.38s, count=2, min=627.0ms, max=757.2ms + scene_randomize: mean=3.9ms, total=7.9ms, count=2, min=1.6ms, max=6.2ms + mj_forward_sync: mean=699.4us, total=1.4ms, count=2, min=0.6ms, max=0.8ms + policy_setup: mean=21.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:53:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:53:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:53:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:53:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:53:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:53:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:53:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:53:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:53:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058330m [env.py: 870] +05/11 14:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:53:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92563364 0.30310337 0.05832983] yaw=169.3deg [env.py: 1019] +05/11 14:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06467648 1.10464795 0.05832983] yaw=-138.6deg [env.py: 1019] +05/11 14:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93923639 1.09261575 0.05832983] yaw=-133.2deg [env.py: 1019] +05/11 14:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:53:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=198.7ms, total=198.8ms [env.py: 1075] +05/11 14:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.303, 0.058) [env.py: 1079] +05/11 14:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.3 deg [env.py: 1082] +05/11 14:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m [env.py: 1086] +05/11 14:53:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:53:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:53:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:53:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:53:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:53:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:53:38 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 14:53:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/11 14:53:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:53:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:53:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:53:39 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:53:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 14:53:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:53:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.628s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:53:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.314[m] 82.485[deg] [grasp_sample.py: 539] +05/11 14:53:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:53:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:53:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:53:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:53:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:53:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.79s (batch: 4.35s, save: 12.44s) [pipeline.py: 300] +05/11 14:53:56 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.72s: + episode_total: mean=197.76s, total=197.76s, count=1, min=197763.3ms, max=197763.3ms + sensor_polling: mean=445.0ms, total=133.49s, count=300, min=331.2ms, max=777.6ms + save_trajectories: mean=12.44s, total=12.44s, count=1, min=12441.2ms, max=12441.2ms + physics_step: mean=31.2ms, total=9.35s, count=300, min=22.6ms, max=99.2ms + save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4352.9ms, max=4352.9ms + task_sampling: mean=724.3ms, total=724.3ms, count=1, min=724.3ms, max=724.3ms + task_specific_sample: mean=719.8ms, total=719.8ms, count=1, min=719.8ms, max=719.8ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=514.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:53:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:53:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:53:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:53:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:53:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:53:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:53:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:53:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:53:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:53:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:53:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044132m [env.py: 870] +05/11 14:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:53:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81007632 0.81492445 0.04413225] yaw=-169.4deg [env.py: 1019] +05/11 14:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:53:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=496.3ms, total=496.4ms [env.py: 1075] +05/11 14:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.810, 0.815, 0.044) [env.py: 1079] +05/11 14:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.4 deg [env.py: 1082] +05/11 14:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m [env.py: 1086] +05/11 14:53:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:53:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:53:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:53:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:53:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:53:59 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 14:53:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s [base_object_manipulation_planner_policy.py: 377] +05/11 14:53:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:53:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:53:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:54:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.052s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:54:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.560[m] 92.063[deg] [grasp_sample.py: 539] +05/11 14:54:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:54:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:54:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:54:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:54:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:54:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:54:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:54:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:54:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:54:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:54:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:54:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:54:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:54:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:54:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:54:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:54:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:54:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:54:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:54:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:54:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 14:54:50 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.939s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:54:50 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.670[deg] [grasp_sample.py: 539] +05/11 14:54:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:54:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:54:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:54:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:54:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:54:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:55:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:55:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:55:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:55:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:55:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:55:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:55:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:55:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:55:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:55:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:55:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:55:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:55:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:55:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:55:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:55:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.111s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 14:55:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.655s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:55:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.794[deg] [grasp_sample.py: 539] +05/11 14:55:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:55:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:55:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:55:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:55:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:55:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:55:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:55:22 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:55:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:55:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:55:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:55:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:55:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:55:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:55:53 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:55:56 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:55:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 14:55:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:56:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:56:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:56:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:56:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:56:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:56:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:56:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:56:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:56:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 15.40s (batch: 4.18s, save: 11.22s) [pipeline.py: 300] +05/11 14:56:12 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.04s: + episode_total: mean=176.97s, total=353.93s, count=2, min=142900.0ms, max=211031.6ms + sensor_polling: mean=424.5ms, total=241.97s, count=570, min=314.8ms, max=982.3ms + physics_step: mean=29.3ms, total=16.71s, count=570, min=20.2ms, max=105.6ms + save_trajectories: mean=11.22s, total=11.22s, count=1, min=11218.6ms, max=11218.6ms + save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4179.2ms, max=4179.2ms + task_sampling: mean=518.4ms, total=1.04s, count=2, min=492.4ms, max=544.4ms + task_specific_sample: mean=514.4ms, total=1.03s, count=2, min=488.7ms, max=540.1ms + scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=1.9ms, max=2.8ms + mj_forward_sync: mean=472.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=25.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:56:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:56:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:56:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:56:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:56:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:56:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:56:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:56:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:56:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:56:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046425m [env.py: 870] +05/11 14:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:56:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8929176 0.48282344 0.04642458] yaw=-175.9deg [env.py: 1019] +05/11 14:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.72884526 0.12696694 0.04642458] yaw=170.1deg [env.py: 1019] +05/11 14:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:56:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=316.8ms, total=316.8ms [env.py: 1075] +05/11 14:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.483, 0.046) [env.py: 1079] +05/11 14:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.9 deg [env.py: 1082] +05/11 14:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m [env.py: 1086] +05/11 14:56:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:56:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:56:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:56:14 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 14:56:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/11 14:56:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:56:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:56:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:56:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:56:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:56:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:56:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:56:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:56:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/11 14:56:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:56:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.416[m] 96.323[deg] [grasp_sample.py: 539] +05/11 14:56:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:56:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:56:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:56:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:56:18 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:56:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 14:56:18 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:56:18 INFO: [Worker 0] Feasibility-checked 70 grasps in 4.051s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:56:18 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.247[deg] [grasp_sample.py: 539] +05/11 14:56:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:56:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:56:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:56:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:56:25 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:56:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:56:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:56:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 17.50s (batch: 3.41s, save: 14.09s) [pipeline.py: 300] +05/11 14:56:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:56:36 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.13s: + episode_total: mean=112.28s, total=336.83s, count=3, min=204.0ms, max=185864.5ms + sensor_polling: mean=430.7ms, total=249.37s, count=579, min=322.9ms, max=1145.4ms + physics_step: mean=30.1ms, total=17.42s, count=579, min=17.5ms, max=100.4ms + save_trajectories: mean=14.09s, total=14.09s, count=1, min=14092.2ms, max=14092.2ms + save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3411.6ms, max=3411.6ms + task_specific_sample: mean=442.1ms, total=1.33s, count=3, min=199.1ms, max=594.0ms + task_sampling: mean=567.4ms, total=1.13s, count=2, min=536.7ms, max=598.1ms + task_sampling_failed: mean=203.9ms, total=203.9ms, count=1, min=203.9ms, max=203.9ms + scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.2ms, max=2.5ms + mj_forward_sync: mean=528.7us, total=1.6ms, count=3, min=0.5ms, max=0.7ms + policy_setup: mean=21.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:56:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:56:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:56:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:56:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:56:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:56:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:56:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:56:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:56:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:56:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:56:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086507m [env.py: 870] +05/11 14:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:56:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73803593 0.98073172 0.08650744] yaw=-154.8deg [env.py: 1019] +05/11 14:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08744717 1.23997489 0.08650744] yaw=-127.3deg [env.py: 1019] +05/11 14:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:56:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=301.7ms, total=301.8ms [env.py: 1075] +05/11 14:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.738, 0.981, 0.087) [env.py: 1079] +05/11 14:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.8 deg [env.py: 1082] +05/11 14:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/11 14:56:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:56:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:56:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:56:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:56:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:56:39 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 14:56:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 14:56:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:56:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:56:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:56:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:56:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.573s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:56:44 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.718[m] 86.195[deg] [grasp_sample.py: 539] +05/11 14:56:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:56:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:56:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:56:52 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:56:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:57:01 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:57:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 14:57:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:57:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:57:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:57:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:57:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:57:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 18.46s (batch: 4.65s, save: 13.82s) [pipeline.py: 300] +05/11 14:57:20 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.84s: + episode_total: mean=202.59s, total=202.59s, count=1, min=202593.3ms, max=202593.3ms + sensor_polling: mean=441.3ms, total=132.38s, count=300, min=345.2ms, max=1115.4ms + save_trajectories: mean=13.82s, total=13.82s, count=1, min=13815.3ms, max=13815.3ms + physics_step: mean=29.7ms, total=8.91s, count=300, min=22.2ms, max=93.3ms + save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4646.3ms, max=4646.3ms + task_sampling: mean=840.9ms, total=840.9ms, count=1, min=840.9ms, max=840.9ms + task_specific_sample: mean=836.9ms, total=836.9ms, count=1, min=836.9ms, max=836.9ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=470.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:57:22 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:57:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 14:57:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:57:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:57:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:57:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:57:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:57:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:57:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:57:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:57:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:57:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026117m [env.py: 870] +05/11 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:57:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71006698 0.91469756 0.02611672] yaw=-157.8deg [env.py: 1019] +05/11 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89000206 1.18326228 0.02611672] yaw=-133.9deg [env.py: 1019] +05/11 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80042519 0.22228665 0.02611672] yaw=154.5deg [env.py: 1019] +05/11 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:57:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.7ms, total=122.7ms [env.py: 1075] +05/11 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.710, 0.915, 0.026) [env.py: 1079] +05/11 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.8 deg [env.py: 1082] +05/11 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/11 14:57:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:57:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:57:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:57:22 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 14:57:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/11 14:57:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:57:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:57:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:57:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 7.854s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:57:30 INFO: [Worker 0] Feasible grasp found 86 (originally 86): w/ 0.663[m] 89.886[deg] [grasp_sample.py: 539] +05/11 14:57:32 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:57:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:57:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:57:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:57:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:57:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:57:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:57:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:57:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:57:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018469m [env.py: 870] +05/11 14:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:57:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67894517 0.44327507 0.01846884] yaw=179.7deg [env.py: 1019] +05/11 14:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86952404 0.94209698 0.01846884] yaw=-147.0deg [env.py: 1019] +05/11 14:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89819333 0.40080115 0.01846884] yaw=185.0deg [env.py: 1019] +05/11 14:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:57:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=100.8ms, total=100.9ms [env.py: 1075] +05/11 14:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.443, 0.018) [env.py: 1079] +05/11 14:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.7 deg [env.py: 1082] +05/11 14:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m [env.py: 1086] +05/11 14:57:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:57:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:57:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:57:34 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 14:57:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/11 14:57:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:57:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:57:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.102s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:57:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.858s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:57:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.622[m] 101.577[deg] [grasp_sample.py: 539] +05/11 14:57:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:57:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:57:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:57:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:57:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:57:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:57:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 15.93s (batch: 3.93s, save: 12.00s) [pipeline.py: 300] +05/11 14:57:38 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.56s: + episode_total: mean=240.85s, total=240.85s, count=1, min=240853.3ms, max=240853.3ms + sensor_polling: mean=454.6ms, total=136.39s, count=300, min=325.0ms, max=1022.0ms + save_trajectories: mean=12.00s, total=12.00s, count=1, min=12004.6ms, max=12004.6ms + physics_step: mean=31.7ms, total=9.52s, count=300, min=16.1ms, max=102.1ms + save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3925.6ms, max=3925.6ms + task_sampling: mean=555.5ms, total=555.5ms, count=1, min=555.5ms, max=555.5ms + task_specific_sample: mean=550.1ms, total=550.1ms, count=1, min=550.1ms, max=550.1ms + scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + mj_forward_sync: mean=589.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=42.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:57:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:57:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:57:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:57:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:57:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:57:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:57:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:57:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:57:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093842m [env.py: 870] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:57:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85484302 1.03141431 0.0938422 ] yaw=-158.3deg [env.py: 1019] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95014593 0.81298947 0.0938422 ] yaw=-158.3deg [env.py: 1019] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66311189 0.73778771 0.0938422 ] yaw=-160.2deg [env.py: 1019] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:57:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=152.3ms, total=152.3ms [env.py: 1075] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.855, 1.031, 0.094) [env.py: 1079] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.3 deg [env.py: 1082] +05/11 14:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m [env.py: 1086] +05/11 14:57:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:57:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:57:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:57:40 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 14:57:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/11 14:57:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:57:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:57:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:57:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.236s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:57:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.614[m] 84.828[deg] [grasp_sample.py: 539] +05/11 14:57:44 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:57:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:57:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:57:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:57:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:57:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:57:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:57:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:57:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:57:46 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] +05/11 14:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003536m [env.py: 870] +05/11 14:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:57:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82275641 0.07011697 0.00353618] yaw=153.0deg [env.py: 1019] +05/11 14:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93271153 0.47183634 0.00353618] yaw=178.0deg [env.py: 1019] +05/11 14:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06200223 1.21655844 0.00353618] yaw=-124.9deg [env.py: 1019] +05/11 14:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:57:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=208.1ms, total=208.2ms [env.py: 1075] +05/11 14:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.070, 0.004) [env.py: 1079] +05/11 14:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.0 deg [env.py: 1082] +05/11 14:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/11 14:57:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:57:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:57:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:57:46 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 14:57:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/11 14:57:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:57:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:57:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:57:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.943s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:57:47 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.554[m] 94.398[deg] [grasp_sample.py: 539] +05/11 14:57:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:57:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:57:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:57:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:57:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:57:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:58:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:58:09 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 14:58:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:58:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:58:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:58:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 14:58:09 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.649s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:58:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.567[deg] [grasp_sample.py: 539] +05/11 14:58:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:58:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:58:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:58:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:58:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:58:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:58:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:58:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:58:42 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:58:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:58:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:58:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:58:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:59:05 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 14:59:05 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=0.70s: + episode_total: mean=146.53s, total=146.53s, count=1, min=146526.6ms, max=146526.6ms + sensor_polling: mean=423.8ms, total=127.14s, count=300, min=337.3ms, max=983.9ms + physics_step: mean=28.6ms, total=8.58s, count=300, min=19.9ms, max=97.4ms + task_sampling: mean=700.7ms, total=700.7ms, count=1, min=700.7ms, max=700.7ms + task_specific_sample: mean=696.4ms, total=696.4ms, count=1, min=696.4ms, max=696.4ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=611.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=28.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:59:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:59:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:59:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:59:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:59:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:59:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:59:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:59:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:59:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003495m [env.py: 870] +05/11 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:59:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97844181 0.85437538 0.00349531] yaw=-144.8deg [env.py: 1019] +05/11 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82719879 1.07600452 0.00349531] yaw=-155.2deg [env.py: 1019] +05/11 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71682007 0.53232545 0.00349531] yaw=-166.2deg [env.py: 1019] +05/11 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:59:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.8ms, total=140.9ms [env.py: 1075] +05/11 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 0.854, 0.003) [env.py: 1079] +05/11 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.8 deg [env.py: 1082] +05/11 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/11 14:59:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:59:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:59:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:59:06 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 14:59:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/11 14:59:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:59:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:59:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:59:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.944s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:59:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.345[m] 81.201[deg] [grasp_sample.py: 539] +05/11 14:59:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:59:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:59:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:59:13 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 14:59:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 14:59:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:59:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:59:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 14:59:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 14.94s (batch: 3.72s, save: 11.22s) [pipeline.py: 300] +05/11 14:59:28 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.64s: + episode_total: mean=195.06s, total=195.06s, count=1, min=195060.8ms, max=195060.8ms + sensor_polling: mean=448.2ms, total=134.45s, count=300, min=348.6ms, max=996.9ms + save_trajectories: mean=11.22s, total=11.22s, count=1, min=11219.4ms, max=11219.4ms + physics_step: mean=30.9ms, total=9.28s, count=300, min=22.0ms, max=106.1ms + save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3724.1ms, max=3724.1ms + task_sampling: mean=642.8ms, total=642.8ms, count=1, min=642.8ms, max=642.8ms + task_specific_sample: mean=639.1ms, total=639.1ms, count=1, min=639.1ms, max=639.1ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=485.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:59:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:59:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:59:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:59:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:59:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:59:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:59:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057726m [env.py: 870] +05/11 14:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:59:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6739671 0.56852053 0.05772602] yaw=-180.2deg [env.py: 1019] +05/11 14:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:59:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=283.9ms, total=283.9ms [env.py: 1075] +05/11 14:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.674, 0.569, 0.058) [env.py: 1079] +05/11 14:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.2 deg [env.py: 1082] +05/11 14:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [env.py: 1086] +05/11 14:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:59:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:59:31 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 14:59:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/11 14:59:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:59:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:59:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:59:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.918s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:59:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.618[m] 93.209[deg] [grasp_sample.py: 539] +05/11 14:59:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:59:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:59:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:59:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:59:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:59:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:59:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:00:03 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:00:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:00:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:00:20 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:00:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:00:33 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:00:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 15:00:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:00:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:00:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:00:48 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:00:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 15:00:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:00:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:00:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:00:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 17.69s (batch: 5.42s, save: 12.27s) [pipeline.py: 300] +05/11 15:00:51 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.88s: + episode_total: mean=103.88s, total=207.77s, count=2, min=9807.6ms, max=197959.5ms + sensor_polling: mean=445.6ms, total=133.68s, count=300, min=346.5ms, max=814.3ms + save_trajectories: mean=12.27s, total=12.27s, count=1, min=12269.1ms, max=12269.1ms + physics_step: mean=29.0ms, total=8.69s, count=300, min=17.2ms, max=98.6ms + save_batch_prep: mean=5.42s, total=5.42s, count=1, min=5417.7ms, max=5417.7ms + task_sampling: mean=437.6ms, total=875.2ms, count=2, min=430.6ms, max=444.6ms + task_specific_sample: mean=433.9ms, total=867.7ms, count=2, min=426.4ms, max=441.3ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.1ms, max=2.7ms + mj_forward_sync: mean=510.2us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=23.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:00:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:00:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:00:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:00:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:00:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:00:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:00:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:00:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:00:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054324m [env.py: 870] +05/11 15:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:00:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.63062855 0.7270576 0.05432363] yaw=-171.7deg [env.py: 1019] +05/11 15:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.05621691 1.08764974 0.05432363] yaw=-144.8deg [env.py: 1019] +05/11 15:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:00:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=329.7ms, total=329.7ms [env.py: 1075] +05/11 15:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.631, 0.727, 0.054) [env.py: 1079] +05/11 15:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.7 deg [env.py: 1082] +05/11 15:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/11 15:00:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:00:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:00:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:00:53 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 15:00:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/11 15:00:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:00:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:00:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:00:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.181s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:00:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.655[m] 94.078[deg] [grasp_sample.py: 539] +05/11 15:00:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:00:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:00:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:00:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:01:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:01:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:01:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 15.47s (batch: 3.65s, save: 11.82s) [pipeline.py: 300] +05/11 15:01:04 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.33s: + episode_total: mean=101.24s, total=202.47s, count=2, min=4619.9ms, max=197852.9ms + sensor_polling: mean=442.7ms, total=132.82s, count=300, min=351.3ms, max=886.8ms + save_trajectories: mean=11.82s, total=11.82s, count=1, min=11824.6ms, max=11824.6ms + physics_step: mean=29.7ms, total=8.92s, count=300, min=18.3ms, max=98.6ms + save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3647.9ms, max=3647.9ms + task_sampling: mean=663.0ms, total=1.33s, count=2, min=480.8ms, max=845.3ms + task_specific_sample: mean=659.4ms, total=1.32s, count=2, min=477.7ms, max=841.1ms + scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms + mj_forward_sync: mean=496.8us, total=1.0ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=20.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:01:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:01:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:01:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:01:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:01:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:01:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:01:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:01:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:01:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:01:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:01:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017934m [env.py: 870] +05/11 15:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:01:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02771385 0.98366913 0.0179336 ] yaw=-140.7deg [env.py: 1019] +05/11 15:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9096902 0.53217038 0.0179336 ] yaw=-182.3deg [env.py: 1019] +05/11 15:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85767667 0.68065422 0.0179336 ] yaw=-169.3deg [env.py: 1019] +05/11 15:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:01:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=412.5ms, total=412.6ms [env.py: 1075] +05/11 15:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.028, 0.984, 0.018) [env.py: 1079] +05/11 15:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.7 deg [env.py: 1082] +05/11 15:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/11 15:01:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:01:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:01:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:01:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:01:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:01:06 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 15:01:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/11 15:01:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:01:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:01:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:01:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.723s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:01:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.398[m] 87.551[deg] [grasp_sample.py: 539] +05/11 15:01:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:01:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:01:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:01:14 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:01:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:01:52 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:01:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 15:01:52 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/11 15:01:53 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:01:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:01:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:02:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:02:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:02:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:02:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 15.98s (batch: 4.39s, save: 11.59s) [pipeline.py: 300] +05/11 15:02:08 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.41s: + episode_total: mean=182.21s, total=182.21s, count=1, min=182214.3ms, max=182214.3ms + sensor_polling: mean=399.9ms, total=115.57s, count=289, min=309.9ms, max=798.2ms + save_trajectories: mean=11.59s, total=11.59s, count=1, min=11590.3ms, max=11590.3ms + physics_step: mean=27.4ms, total=7.92s, count=289, min=19.1ms, max=117.9ms + save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4387.4ms, max=4387.4ms + task_sampling: mean=414.0ms, total=414.0ms, count=1, min=414.0ms, max=414.0ms + task_specific_sample: mean=410.8ms, total=410.8ms, count=1, min=410.8ms, max=410.8ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=461.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:02:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:02:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:02:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:02:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:02:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:02:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:02:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:02:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:02:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:02:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:02:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:02:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023953m [env.py: 870] +05/11 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:02:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90818644 0.15303781 0.02395305] yaw=166.4deg [env.py: 1019] +05/11 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:02:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=251.8ms, total=251.9ms [env.py: 1075] +05/11 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.908, 0.153, 0.024) [env.py: 1079] +05/11 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.4 deg [env.py: 1082] +05/11 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/11 15:02:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:02:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:02:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:02:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:02:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:02:10 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 15:02:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/11 15:02:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:02:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:02:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:02:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.756s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:02:11 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.432[m] 87.445[deg] [grasp_sample.py: 539] +05/11 15:02:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:02:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:02:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:02:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:02:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:02:21 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:02:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 15:02:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:02:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:02:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:02:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 14.57s (batch: 3.51s, save: 11.06s) [pipeline.py: 300] +05/11 15:02:36 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.64s: + episode_total: mean=186.03s, total=186.03s, count=1, min=186025.9ms, max=186025.9ms + sensor_polling: mean=427.6ms, total=128.28s, count=300, min=321.4ms, max=1211.8ms + save_trajectories: mean=11.06s, total=11.06s, count=1, min=11062.0ms, max=11062.0ms + physics_step: mean=31.2ms, total=9.35s, count=300, min=17.6ms, max=117.1ms + save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3511.0ms, max=3511.0ms + task_sampling: mean=636.0ms, total=636.0ms, count=1, min=636.0ms, max=636.0ms + task_specific_sample: mean=631.8ms, total=631.8ms, count=1, min=631.8ms, max=631.8ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=470.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:02:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:02:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:02:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:02:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:02:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:02:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:02:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:02:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:02:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:02:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:02:37 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] +05/11 15:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009618m [env.py: 870] +05/11 15:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:02:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99496962 0.73509256 0.00961764] yaw=-165.6deg [env.py: 1019] +05/11 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:02:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=315.2ms, total=315.2ms [env.py: 1075] +05/11 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.995, 0.735, 0.010) [env.py: 1079] +05/11 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.6 deg [env.py: 1082] +05/11 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m [env.py: 1086] +05/11 15:02:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:02:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:02:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:02:38 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 15:02:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/11 15:02:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:02:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:02:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:02:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.758s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:02:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.352[m] 94.687[deg] [grasp_sample.py: 539] +05/11 15:02:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:02:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:02:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:02:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:02:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:02:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:03:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:03:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:03:24 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:03:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:03:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:03:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:03:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:03:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:03:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:03:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:03:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:03:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:03:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:03:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:03:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:03:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:03:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 15:03:45 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.281s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:03:45 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.298[deg] [grasp_sample.py: 539] +05/11 15:03:47 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:03:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:03:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:03:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:03:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:03:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:03:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:03:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:03:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:03:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:03:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:03:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093063m [env.py: 870] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:03:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85320668 0.27631522 0.09306263] yaw=165.3deg [env.py: 1019] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9344017 0.54754869 0.09306263] yaw=-178.0deg [env.py: 1019] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95729313 0.75242951 0.09306263] yaw=-169.0deg [env.py: 1019] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:03:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=236.6ms, total=236.6ms [env.py: 1075] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.276, 0.093) [env.py: 1079] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.3 deg [env.py: 1082] +05/11 15:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/11 15:03:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:03:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:03:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:03:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:03:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:03:49 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 15:03:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/11 15:03:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:03:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:03:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:03:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.681s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:03:49 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.402[m] 80.291[deg] [grasp_sample.py: 539] +05/11 15:03:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:03:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:03:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:03:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:03:55 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:03:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 15:03:55 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:04:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:04:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:04:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:04:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:04:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:04:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 15.51s (batch: 3.98s, save: 11.53s) [pipeline.py: 300] +05/11 15:04:12 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.66s: + episode_total: mean=198.93s, total=198.93s, count=1, min=198929.1ms, max=198929.1ms + sensor_polling: mean=446.3ms, total=133.90s, count=300, min=323.2ms, max=896.3ms + save_trajectories: mean=11.53s, total=11.53s, count=1, min=11529.1ms, max=11529.1ms + physics_step: mean=31.4ms, total=9.41s, count=300, min=21.6ms, max=107.1ms + save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3984.9ms, max=3984.9ms + task_sampling: mean=660.8ms, total=660.8ms, count=1, min=660.8ms, max=660.8ms + task_specific_sample: mean=656.9ms, total=656.9ms, count=1, min=656.9ms, max=656.9ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=478.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:04:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:04:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:04:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:04:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:04:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:04:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:04:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:04:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:04:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:04:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050031m [env.py: 870] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:04:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84340104 0.3329458 0.0500312 ] yaw=168.2deg [env.py: 1019] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76964509 0.56443978 0.0500312 ] yaw=-172.3deg [env.py: 1019] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78405668 0.32011661 0.0500312 ] yaw=174.0deg [env.py: 1019] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:04:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.1ms, total=149.1ms [env.py: 1075] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.333, 0.050) [env.py: 1079] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.2 deg [env.py: 1082] +05/11 15:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/11 15:04:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:04:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:04:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:04:14 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 15:04:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:04:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/11 15:04:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:04:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:04:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:04:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.629s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:04:15 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.442[m] 91.672[deg] [grasp_sample.py: 539] +05/11 15:04:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:04:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:04:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:04:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:04:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:04:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:04:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:04:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:04:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:04:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:04:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:04:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.109s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 15:04:20 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.517s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:04:20 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.055[deg] [grasp_sample.py: 539] +05/11 15:04:21 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:04:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:04:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:04:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:04:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:04:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:04:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:04:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:04:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:04:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:04:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005989m [env.py: 870] +05/11 15:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:04:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76458369 0.90840704 0.0059891 ] yaw=-149.2deg [env.py: 1019] +05/11 15:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74167512 -0.02234649 0.0059891 ] yaw=156.4deg [env.py: 1019] +05/11 15:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:04:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=390.4ms, total=390.5ms [env.py: 1075] +05/11 15:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.765, 0.908, 0.006) [env.py: 1079] +05/11 15:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.2 deg [env.py: 1082] +05/11 15:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m [env.py: 1086] +05/11 15:04:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:04:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:04:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:04:24 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 15:04:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/11 15:04:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:04:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:04:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:04:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.170s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:04:26 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.568[m] 77.939[deg] [grasp_sample.py: 539] +05/11 15:04:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:04:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:04:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:04:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:04:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:04:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:05:04 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:05:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:05:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:05:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:05:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:05:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:05:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:05:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:05:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:05:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:05:40 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:05:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 15:05:40 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/11 15:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:05:41 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 15:05:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:05:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:05:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:05:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 84 non-colliding grasps [grasp_sample.py: 465] +05/11 15:05:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:05:42 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.193s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:05:42 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.119[m] 0.864[deg] [grasp_sample.py: 539] +05/11 15:05:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:05:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:05:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:05:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:05:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:05:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:05:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:05:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 15:05:44 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.532s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:05:44 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.851[deg] [grasp_sample.py: 539] +05/11 15:05:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:05:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:05:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:05:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:05:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:05:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:05:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:05:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 17.78s (batch: 5.48s, save: 12.30s) [pipeline.py: 300] +05/11 15:05:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:05:59 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.64s: + episode_total: mean=201.29s, total=201.29s, count=1, min=201291.7ms, max=201291.7ms + sensor_polling: mean=449.5ms, total=131.70s, count=293, min=350.6ms, max=1261.6ms + save_trajectories: mean=12.30s, total=12.30s, count=1, min=12298.2ms, max=12298.2ms + physics_step: mean=30.1ms, total=8.82s, count=293, min=17.6ms, max=150.7ms + save_batch_prep: mean=5.48s, total=5.48s, count=1, min=5477.4ms, max=5477.4ms + task_sampling: mean=642.1ms, total=642.1ms, count=1, min=642.1ms, max=642.1ms + task_specific_sample: mean=638.2ms, total=638.2ms, count=1, min=638.2ms, max=638.2ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=491.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:06:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:06:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:06:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:06:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:06:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:06:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:06:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:06:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:06:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:06:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:06:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047290m [env.py: 870] +05/11 15:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:06:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73483724 0.19450347 0.04729049] yaw=167.1deg [env.py: 1019] +05/11 15:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.72336486 0.46107243 0.04729049] yaw=173.3deg [env.py: 1019] +05/11 15:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:06:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=386.6ms, total=386.7ms [env.py: 1075] +05/11 15:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.735, 0.195, 0.047) [env.py: 1079] +05/11 15:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.1 deg [env.py: 1082] +05/11 15:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/11 15:06:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:06:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:06:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:06:01 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 15:06:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/11 15:06:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:06:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:06:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:06:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:06:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.997s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:06:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.620[m] 101.661[deg] [grasp_sample.py: 539] +05/11 15:06:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:06:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:06:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:06:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:06:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:06:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:06:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:06:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:06:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:06:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:06:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:06:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:06:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:06:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:06:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:06:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:06:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:06:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:06:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/11 15:06:34 INFO: [Worker 0] Feasibility-checked 70 grasps in 3.461s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:06:34 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.052[m] 8.374[deg] [grasp_sample.py: 539] +05/11 15:06:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:06:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:06:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:06:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:06:41 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:06:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:06:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:06:49 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:06:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:06:57 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:07:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:07:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:07:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:07:19 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:07:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 15:07:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:07:26 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:07:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 15:07:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:07:32 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:07:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 15:07:32 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:07:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:07:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:07:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.61s (batch: 4.60s, save: 12.00s) [pipeline.py: 300] +05/11 15:07:36 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.50s: + episode_total: mean=202.74s, total=202.74s, count=1, min=202738.8ms, max=202738.8ms + sensor_polling: mean=433.6ms, total=130.08s, count=300, min=351.8ms, max=908.2ms + save_trajectories: mean=12.00s, total=12.00s, count=1, min=12004.0ms, max=12004.0ms + physics_step: mean=32.2ms, total=9.66s, count=300, min=18.9ms, max=109.9ms + save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4602.5ms, max=4602.5ms + task_sampling: mean=495.1ms, total=495.1ms, count=1, min=495.1ms, max=495.1ms + task_specific_sample: mean=491.1ms, total=491.1ms, count=1, min=491.1ms, max=491.1ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=483.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:07:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:07:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:07:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:07:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:07:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:07:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:07:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:07:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:07:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:07:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:07:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:07:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:07:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:07:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024845m [env.py: 870] +05/11 15:07:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:07:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:07:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:07:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95400909 0.42424459 0.02484484] yaw=168.9deg [env.py: 1019] +05/11 15:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02527964 1.17338523 0.02484484] yaw=-145.2deg [env.py: 1019] +05/11 15:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74770523 0.17772557 0.02484484] yaw=157.9deg [env.py: 1019] +05/11 15:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:07:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.1ms, total=107.1ms [env.py: 1075] +05/11 15:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.954, 0.424, 0.025) [env.py: 1079] +05/11 15:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg [env.py: 1082] +05/11 15:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m [env.py: 1086] +05/11 15:07:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:07:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:07:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:07:38 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 15:07:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/11 15:07:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:07:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:07:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:07:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.627s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:07:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.286[m] 84.970[deg] [grasp_sample.py: 539] +05/11 15:07:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:07:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:07:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:07:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:07:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:07:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:07:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 15.37s (batch: 4.52s, save: 10.85s) [pipeline.py: 300] +05/11 15:07:42 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.37s: + episode_total: mean=165.16s, total=330.32s, count=2, min=131749.1ms, max=198567.4ms + sensor_polling: mean=434.3ms, total=229.31s, count=528, min=332.8ms, max=1053.1ms + physics_step: mean=30.2ms, total=15.92s, count=528, min=17.9ms, max=197.0ms + save_trajectories: mean=10.85s, total=10.85s, count=1, min=10847.7ms, max=10847.7ms + save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4520.9ms, max=4520.9ms + task_sampling: mean=685.7ms, total=1.37s, count=2, min=685.1ms, max=686.2ms + task_specific_sample: mean=681.6ms, total=1.36s, count=2, min=680.3ms, max=683.0ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.2ms + mj_forward_sync: mean=565.8us, total=1.1ms, count=2, min=0.5ms, max=0.7ms + policy_setup: mean=23.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:07:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:07:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:07:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:07:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:07:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:07:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:07:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:07:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:07:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:07:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:07:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060991m [env.py: 870] +05/11 15:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:07:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9528109 0.19833233 0.06099123] yaw=163.7deg [env.py: 1019] +05/11 15:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78520042 0.41404942 0.06099123] yaw=182.3deg [env.py: 1019] +05/11 15:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:07:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.9ms, total=202.9ms [env.py: 1075] +05/11 15:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.198, 0.061) [env.py: 1079] +05/11 15:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.7 deg [env.py: 1082] +05/11 15:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/11 15:07:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:07:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:07:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:07:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:07:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:07:44 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 15:07:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/11 15:07:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:07:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:07:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:07:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.689s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:07:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.358[m] 91.601[deg] [grasp_sample.py: 539] +05/11 15:07:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:07:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:07:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:07:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:07:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:07:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:07:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.47s (batch: 4.51s, save: 11.96s) [pipeline.py: 300] +05/11 15:07:49 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.30s: + episode_total: mean=201.34s, total=402.68s, count=2, min=161424.3ms, max=241259.0ms + sensor_polling: mean=440.5ms, total=263.85s, count=599, min=309.0ms, max=1107.1ms + physics_step: mean=30.8ms, total=18.43s, count=599, min=16.1ms, max=155.2ms + save_trajectories: mean=11.96s, total=11.96s, count=1, min=11960.5ms, max=11960.5ms + save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4506.3ms, max=4506.3ms + task_sampling: mean=647.9ms, total=1.30s, count=2, min=522.9ms, max=772.9ms + task_specific_sample: mean=644.1ms, total=1.29s, count=2, min=519.6ms, max=768.6ms + scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms + mj_forward_sync: mean=475.5us, total=1.0ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:07:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:07:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:07:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:07:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:07:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:07:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:07:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:07:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:07:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017805m [env.py: 870] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:07:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14264541 1.03362186 0.01780524] yaw=-130.1deg [env.py: 1019] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02787028 0.827489 0.01780524] yaw=-141.5deg [env.py: 1019] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.93291386 0.28823092 0.01780524] yaw=163.6deg [env.py: 1019] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:07:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.8ms, total=295.8ms [env.py: 1075] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.143, 1.034, 0.018) [env.py: 1079] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.1 deg [env.py: 1082] +05/11 15:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m [env.py: 1086] +05/11 15:07:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:07:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:07:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:07:51 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 15:07:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/11 15:07:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:07:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:07:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:07:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.933s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:07:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.329[m] 80.168[deg] [grasp_sample.py: 539] +05/11 15:07:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:07:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:07:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:08:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:08:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:08:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:08:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:08:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:08:22 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:08:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:08:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:08:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:08:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:08:56 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:08:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 15:08:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:09:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:09:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:09:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.62s (batch: 4.56s, save: 12.06s) [pipeline.py: 300] +05/11 15:09:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:14 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.73s: + episode_total: mean=193.33s, total=193.33s, count=1, min=193332.8ms, max=193332.8ms + sensor_polling: mean=423.0ms, total=126.91s, count=300, min=343.4ms, max=1150.7ms + save_trajectories: mean=12.06s, total=12.06s, count=1, min=12060.7ms, max=12060.7ms + physics_step: mean=29.0ms, total=8.71s, count=300, min=20.6ms, max=81.0ms + save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4559.5ms, max=4559.5ms + task_sampling: mean=729.5ms, total=729.5ms, count=1, min=729.5ms, max=729.5ms + task_specific_sample: mean=725.6ms, total=725.6ms, count=1, min=725.6ms, max=725.6ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=486.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:09:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:09:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:09:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:09:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:09:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:09:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:09:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:09:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:09:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:09:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 15:09:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:09:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:09:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:09:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009093m [env.py: 870] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:09:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78005967 0.12180559 0.00909273] yaw=155.4deg [env.py: 1019] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86837013 0.62282094 0.00909273] yaw=-176.6deg [env.py: 1019] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.71191493 0.41116839 0.00909273] yaw=184.6deg [env.py: 1019] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:09:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=188.6ms, total=188.6ms [env.py: 1075] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.122, 0.009) [env.py: 1079] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.4 deg [env.py: 1082] +05/11 15:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/11 15:09:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:09:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:09:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:09:16 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 15:09:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/11 15:09:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:09:16 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.633s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:09:16 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.404[deg] [grasp_sample.py: 539] +05/11 15:09:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:09:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:09:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:09:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:09:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:09:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.145s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:09:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.510[m] 84.328[deg] [grasp_sample.py: 539] +05/11 15:09:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:09:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:09:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:09:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:09:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:09:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:09:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:09:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:09:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 15:09:32 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.481s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:09:32 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.404[deg] [grasp_sample.py: 539] +05/11 15:09:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:09:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:09:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:09:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:09:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:09:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:09:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:09:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 15:09:49 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.221s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:09:49 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.404[deg] [grasp_sample.py: 539] +05/11 15:09:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:09:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:09:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:09:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:57 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:09:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:09:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:10:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:10:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:10:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:10:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:10:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:10:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 68 non-colliding grasps [grasp_sample.py: 465] +05/11 15:10:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:10:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:10:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:10:05 INFO: [Worker 0] Feasibility-checked 68 grasps in 3.244s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:10:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.027[m] 12.550[deg] [grasp_sample.py: 539] +05/11 15:10:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:10:07 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:10:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:10:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:10:08 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 15:10:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:10:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:10:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:10:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:10:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:10:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:10:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:10:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:10:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:10:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:10:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048760m [env.py: 870] +05/11 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:10:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85463067 0.93024962 0.04875992] yaw=-147.5deg [env.py: 1019] +05/11 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66307455 0.72445258 0.04875992] yaw=-161.7deg [env.py: 1019] +05/11 15:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10990675 1.06336225 0.04875992] yaw=-145.0deg [env.py: 1019] +05/11 15:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:10:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=459.3ms, total=459.4ms [env.py: 1075] +05/11 15:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.930, 0.049) [env.py: 1079] +05/11 15:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.5 deg [env.py: 1082] +05/11 15:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/11 15:10:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:10:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:10:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:10:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:10:09 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 15:10:09 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.52s: + episode_total: mean=145.65s, total=145.65s, count=1, min=145651.0ms, max=145651.0ms + sensor_polling: mean=423.2ms, total=85.49s, count=202, min=335.3ms, max=894.4ms + physics_step: mean=27.9ms, total=5.63s, count=202, min=15.3ms, max=68.7ms + task_sampling: mean=517.1ms, total=517.1ms, count=1, min=517.1ms, max=517.1ms + task_specific_sample: mean=512.9ms, total=512.9ms, count=1, min=512.9ms, max=512.9ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=500.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:10:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:10:09 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 15:10:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/11 15:10:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:10:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:10:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.107s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:10:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:10:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:10:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:10:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:10:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:10:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:10:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064343m [env.py: 870] +05/11 15:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:10:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73256756 0.34632563 0.06434313] yaw=182.6deg [env.py: 1019] +05/11 15:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80086305 1.00515993 0.06434313] yaw=-141.4deg [env.py: 1019] +05/11 15:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:10:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=411.6ms, total=411.7ms [env.py: 1075] +05/11 15:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.733, 0.346, 0.064) [env.py: 1079] +05/11 15:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.6 deg [env.py: 1082] +05/11 15:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/11 15:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:10:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:10:11 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 15:10:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/11 15:10:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:10:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:10:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:10:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.972s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:10:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.541[m] 90.784[deg] [grasp_sample.py: 539] +05/11 15:10:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:10:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:10:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.998s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:10:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.575[m] 92.450[deg] [grasp_sample.py: 539] +05/11 15:10:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:10:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:10:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:10:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:10:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:10:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:10:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:10:29 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:10:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 15:10:29 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/11 15:10:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:10:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:10:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 15.28s (batch: 3.97s, save: 11.31s) [pipeline.py: 300] +05/11 15:10:45 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.41s: + episode_total: mean=187.71s, total=187.71s, count=1, min=187713.8ms, max=187713.8ms + sensor_polling: mean=426.1ms, total=118.02s, count=277, min=319.2ms, max=718.6ms + save_trajectories: mean=11.31s, total=11.31s, count=1, min=11309.5ms, max=11309.5ms + physics_step: mean=30.6ms, total=8.47s, count=277, min=17.6ms, max=79.4ms + save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3970.4ms, max=3970.4ms + task_sampling: mean=414.1ms, total=414.1ms, count=1, min=414.1ms, max=414.1ms + task_specific_sample: mean=409.5ms, total=409.5ms, count=1, min=409.5ms, max=409.5ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=465.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:10:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:10:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:10:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:10:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:10:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:10:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:10:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:10:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:10:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:10:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:10:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022517m [env.py: 870] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:10:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 132.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91834062 0.41976852 0.02251733] yaw=169.2deg [env.py: 1019] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86622022 1.02901304 0.02251733] yaw=-151.7deg [env.py: 1019] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.99082083 0.20542485 0.02251733] yaw=149.4deg [env.py: 1019] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:10:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=224.8ms, total=224.9ms [env.py: 1075] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.918, 0.420, 0.023) [env.py: 1079] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.2 deg [env.py: 1082] +05/11 15:10:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m [env.py: 1086] +05/11 15:10:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:10:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:10:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:10:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:10:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:10:47 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 15:10:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/11 15:10:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:10:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:10:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:10:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.659s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:10:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.334[m] 92.020[deg] [grasp_sample.py: 539] +05/11 15:10:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:10:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:10:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:10:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:11:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:11:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:11:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:11:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:11:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:11:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:11:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:11:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:11:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:11:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:11:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:11:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:11:51 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:12:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:12:26 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:12:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 15:12:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:12:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:12:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:12:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:12:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:12:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:12:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:12:36 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:12:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:12:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:12:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:12:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:12:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:12:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:12:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 15:12:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.579s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:12:38 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.173[deg] [grasp_sample.py: 539] +05/11 15:12:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:12:39 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:12:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:12:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:12:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:12:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:12:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:12:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:12:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:12:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:12:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:12:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056511m [env.py: 870] +05/11 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:12:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98359362 0.19764067 0.05651149] yaw=151.5deg [env.py: 1019] +05/11 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82057746 0.13536699 0.05651149] yaw=164.8deg [env.py: 1019] +05/11 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:12:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=393.7ms, total=393.8ms [env.py: 1075] +05/11 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.984, 0.198, 0.057) [env.py: 1079] +05/11 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.5 deg [env.py: 1082] +05/11 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m [env.py: 1086] +05/11 15:12:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:12:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:12:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:12:41 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 15:12:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/11 15:12:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:12:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:12:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:12:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:12:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.876s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:12:43 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.319[m] 85.041[deg] [grasp_sample.py: 539] +05/11 15:12:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:12:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:12:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:12:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.67s (batch: 4.22s, save: 12.45s) [pipeline.py: 300] +05/11 15:12:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:12:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:12:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:12:44 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.54s: + episode_total: mean=208.55s, total=208.55s, count=1, min=208550.6ms, max=208550.6ms + sensor_polling: mean=437.5ms, total=131.26s, count=300, min=325.8ms, max=848.2ms + save_trajectories: mean=12.45s, total=12.45s, count=1, min=12448.8ms, max=12448.8ms + physics_step: mean=31.0ms, total=9.30s, count=300, min=22.2ms, max=87.3ms + save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4218.8ms, max=4218.8ms + task_sampling: mean=538.7ms, total=538.7ms, count=1, min=538.7ms, max=538.7ms + task_specific_sample: mean=533.5ms, total=533.5ms, count=1, min=533.5ms, max=533.5ms + scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + mj_forward_sync: mean=669.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:12:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:12:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:12:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:12:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:12:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:12:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:12:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:12:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:12:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:12:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011085m [env.py: 870] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:12:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.10226782 0.94860402 0.0110848 ] yaw=-132.4deg [env.py: 1019] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75426424 0.48684495 0.0110848 ] yaw=-173.5deg [env.py: 1019] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73912256 0.05670811 0.0110848 ] yaw=152.4deg [env.py: 1019] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:12:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=141.1ms, total=141.2ms [env.py: 1075] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.102, 0.949, 0.011) [env.py: 1079] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.4 deg [env.py: 1082] +05/11 15:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m [env.py: 1086] +05/11 15:12:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:12:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:12:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:12:46 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 15:12:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/11 15:12:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:12:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:12:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:12:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:12:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.860s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:12:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.324[m] 87.220[deg] [grasp_sample.py: 539] +05/11 15:12:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:12:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:12:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:12:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:12:48 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:13:07 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:13:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 15:13:07 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:13:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:13:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:13:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:13:19 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:13:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 15:13:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:13:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:13:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:13:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:13:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:13:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.65s (batch: 4.58s, save: 12.07s) [pipeline.py: 300] +05/11 15:13:24 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.40s: + episode_total: mean=165.95s, total=331.90s, count=2, min=135744.2ms, max=196155.4ms + sensor_polling: mean=419.8ms, total=235.11s, count=560, min=312.3ms, max=1053.7ms + physics_step: mean=28.7ms, total=16.07s, count=560, min=21.9ms, max=109.2ms + save_trajectories: mean=12.07s, total=12.07s, count=1, min=12072.6ms, max=12072.6ms + save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4581.7ms, max=4581.7ms + task_sampling: mean=700.4ms, total=1.40s, count=2, min=600.7ms, max=800.0ms + task_specific_sample: mean=696.6ms, total=1.39s, count=2, min=596.4ms, max=796.7ms + scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.3ms, max=2.9ms + mj_forward_sync: mean=521.2us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=18.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:13:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:13:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:13:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:13:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:13:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:13:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:13:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:13:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:13:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075157m [env.py: 870] +05/11 15:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:13:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80760012 0.39141414 0.07515703] yaw=165.8deg [env.py: 1019] +05/11 15:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90510807 0.46540939 0.07515703] yaw=185.4deg [env.py: 1019] +05/11 15:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:13:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=419.3ms, total=419.4ms [env.py: 1075] +05/11 15:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.808, 0.391, 0.075) [env.py: 1079] +05/11 15:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg [env.py: 1082] +05/11 15:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m [env.py: 1086] +05/11 15:13:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:13:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:13:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:13:27 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 15:13:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.177s [base_object_manipulation_planner_policy.py: 377] +05/11 15:13:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:13:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:13:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:13:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:13:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.368s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:13:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.517[m] 105.078[deg] [grasp_sample.py: 539] +05/11 15:13:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:13:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:13:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:13:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:13:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:13:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:13:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 20.04s (batch: 4.78s, save: 15.26s) [pipeline.py: 300] +05/11 15:13:40 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.70s: + episode_total: mean=209.21s, total=209.21s, count=1, min=209209.1ms, max=209209.1ms + sensor_polling: mean=438.1ms, total=131.43s, count=300, min=348.5ms, max=1256.8ms + save_trajectories: mean=15.26s, total=15.26s, count=1, min=15261.3ms, max=15261.3ms + physics_step: mean=32.1ms, total=9.63s, count=300, min=22.2ms, max=175.5ms + save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4779.4ms, max=4779.4ms + task_sampling: mean=697.8ms, total=697.8ms, count=1, min=697.8ms, max=697.8ms + task_specific_sample: mean=693.0ms, total=693.0ms, count=1, min=693.0ms, max=693.0ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=646.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:13:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:13:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:13:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:13:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:13:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:13:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:13:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:13:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:13:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096952m [env.py: 870] +05/11 15:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:13:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97381625 0.92872329 0.0969517 ] yaw=-141.8deg [env.py: 1019] +05/11 15:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8748962 1.09243716 0.0969517 ] yaw=-139.1deg [env.py: 1019] +05/11 15:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85341885 0.78147486 0.0969517 ] yaw=-167.7deg [env.py: 1019] +05/11 15:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:13:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=214.6ms, total=214.7ms [env.py: 1075] +05/11 15:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.974, 0.929, 0.097) [env.py: 1079] +05/11 15:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.8 deg [env.py: 1082] +05/11 15:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m [env.py: 1086] +05/11 15:13:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:13:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:13:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:13:43 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 15:13:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.162s [base_object_manipulation_planner_policy.py: 377] +05/11 15:13:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:13:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:13:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:13:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.704s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:13:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.441[m] 95.494[deg] [grasp_sample.py: 539] +05/11 15:13:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:13:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:13:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:14:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:14:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:14:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:14:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:14:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:14:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:14:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:14:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:14:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:14:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:14:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:14:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:14:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:14:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:14:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 15:14:23 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.620s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:14:23 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.974[deg] [grasp_sample.py: 539] +05/11 15:14:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:14:24 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:14:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:14:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:14:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:14:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:14:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:14:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:14:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:14:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077106m [env.py: 870] +05/11 15:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:14:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.06197895 1.23222335 0.07710637] yaw=-137.1deg [env.py: 1019] +05/11 15:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:14:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=439.6ms, total=439.6ms [env.py: 1075] +05/11 15:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.062, 1.232, 0.077) [env.py: 1079] +05/11 15:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.1 deg [env.py: 1082] +05/11 15:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/11 15:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:14:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:14:27 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 15:14:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/11 15:14:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:14:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:14:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:14:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.037s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:14:32 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.580[m] 81.608[deg] [grasp_sample.py: 539] +05/11 15:14:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:14:33 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:14:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:14:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:14:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:14:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:14:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:14:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:14:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:14:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:14:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:14:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091509m [env.py: 870] +05/11 15:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:14:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80274594 0.87000391 0.09150911] yaw=-156.2deg [env.py: 1019] +05/11 15:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93590226 0.96611506 0.09150911] yaw=-151.6deg [env.py: 1019] +05/11 15:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88273551 0.4485576 0.09150911] yaw=182.0deg [env.py: 1019] +05/11 15:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:14:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=565.6ms, total=565.6ms [env.py: 1075] +05/11 15:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.803, 0.870, 0.092) [env.py: 1079] +05/11 15:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.2 deg [env.py: 1082] +05/11 15:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/11 15:14:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:14:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:14:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:14:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:14:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:14:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:14:36 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 15:14:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/11 15:14:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:14:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:14:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:14:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.911s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:14:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.538[m] 86.550[deg] [grasp_sample.py: 539] +05/11 15:14:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:14:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:14:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:14:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:15:07 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:15:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:15:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:15:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:15:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:15:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:15:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:15:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:15:43 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:15:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 15:15:43 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/11 15:15:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:15:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:15:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:15:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:15:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:15:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:15:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:15:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:15:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.108s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 15:15:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.681s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:15:52 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.496[deg] [grasp_sample.py: 539] +05/11 15:15:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:15:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:15:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:15:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9 [base_object_manipulation_planner_policy.py: 494] +05/11 15:15:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:15:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:15:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:15:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:15:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 15:15:55 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.509s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:15:55 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.485[deg] [grasp_sample.py: 539] +05/11 15:15:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:15:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:15:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:16:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:16:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:16:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.74s (batch: 4.79s, save: 11.95s) [pipeline.py: 300] +05/11 15:16:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:16:01 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.51s: + episode_total: mean=195.89s, total=195.89s, count=1, min=195892.5ms, max=195892.5ms + sensor_polling: mean=444.4ms, total=127.54s, count=287, min=350.7ms, max=989.3ms + save_trajectories: mean=11.95s, total=11.95s, count=1, min=11949.5ms, max=11949.5ms + physics_step: mean=31.0ms, total=8.91s, count=287, min=18.4ms, max=132.6ms + save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4787.6ms, max=4787.6ms + task_sampling: mean=514.0ms, total=514.0ms, count=1, min=514.0ms, max=514.0ms + task_specific_sample: mean=509.4ms, total=509.4ms, count=1, min=509.4ms, max=509.4ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=600.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:16:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:16:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:16:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:16:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:16:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:16:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:16:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:16:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:16:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084965m [env.py: 870] +05/11 15:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:16:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03765049 1.02676568 0.08496484] yaw=-148.8deg [env.py: 1019] +05/11 15:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73588637 0.85490905 0.08496484] yaw=-166.0deg [env.py: 1019] +05/11 15:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:16:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=396.3ms, total=396.3ms [env.py: 1075] +05/11 15:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.038, 1.027, 0.085) [env.py: 1079] +05/11 15:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.8 deg [env.py: 1082] +05/11 15:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m [env.py: 1086] +05/11 15:16:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:16:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:16:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:16:03 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 15:16:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/11 15:16:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:16:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:16:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:16:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.942s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:16:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.470[m] 90.186[deg] [grasp_sample.py: 539] +05/11 15:16:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:16:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:16:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:16:07 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:16:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:16:13 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:16:34 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:16:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 15:16:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:16:40 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:16:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 15:16:40 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:16:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:16:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:16:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:16:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.82s (batch: 4.72s, save: 12.10s) [pipeline.py: 300] +05/11 15:16:51 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.65s: + episode_total: mean=189.21s, total=189.21s, count=1, min=189212.1ms, max=189212.1ms + sensor_polling: mean=432.0ms, total=129.59s, count=300, min=343.0ms, max=793.5ms + save_trajectories: mean=12.10s, total=12.10s, count=1, min=12097.9ms, max=12097.9ms + physics_step: mean=29.9ms, total=8.97s, count=300, min=22.0ms, max=110.2ms + save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4722.5ms, max=4722.5ms + task_sampling: mean=645.9ms, total=645.9ms, count=1, min=645.9ms, max=645.9ms + task_specific_sample: mean=641.1ms, total=641.1ms, count=1, min=641.1ms, max=641.1ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=572.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:16:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:16:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:16:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:16:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:16:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:16:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:16:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:16:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:16:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:16:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:16:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093503m [env.py: 870] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:16:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99254694 1.27172101 0.09350301] yaw=-127.2deg [env.py: 1019] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88323687 1.13717421 0.09350301] yaw=-148.7deg [env.py: 1019] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.94425962 1.11271546 0.09350301] yaw=-128.8deg [env.py: 1019] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:16:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=276.4ms, total=276.4ms [env.py: 1075] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.993, 1.272, 0.094) [env.py: 1079] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.2 deg [env.py: 1082] +05/11 15:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/11 15:16:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:16:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:16:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:16:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:16:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:16:54 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 15:16:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/11 15:16:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:16:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:16:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:16:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:16:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:16:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:16:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.64s (batch: 3.70s, save: 12.93s) [pipeline.py: 300] +05/11 15:16:57 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:16:57 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.90s: + episode_total: mean=210.89s, total=210.89s, count=1, min=210887.8ms, max=210887.8ms + sensor_polling: mean=447.7ms, total=134.30s, count=300, min=347.2ms, max=957.5ms + save_trajectories: mean=12.93s, total=12.93s, count=1, min=12934.5ms, max=12934.5ms + physics_step: mean=30.0ms, total=9.00s, count=300, min=20.1ms, max=66.6ms + save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3704.1ms, max=3704.1ms + task_sampling: mean=897.8ms, total=897.8ms, count=1, min=897.8ms, max=897.8ms + task_specific_sample: mean=891.6ms, total=891.6ms, count=1, min=891.6ms, max=891.6ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:16:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.434s, found feasible grasp: False [grasp_sample.py: 500] +05/11 15:16:57 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 15:16:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:16:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:16:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:16:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:16:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:16:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:16:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:16:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:16:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:16:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076416m [env.py: 870] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:16:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:16:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:16:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:16:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:16:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:16:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:16:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:16:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:16:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:16:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007640m [env.py: 870] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:16:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73420563 0.5121415 0.07641558] yaw=-170.9deg [env.py: 1019] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87303337 0.04972267 0.00763977] yaw=148.2deg [env.py: 1019] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84676605 0.96839167 0.07641558] yaw=-150.9deg [env.py: 1019] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99256591 0.79937244 0.07641558] yaw=-164.0deg [env.py: 1019] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:16:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=242.5ms, total=242.6ms [env.py: 1075] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.734, 0.512, 0.076) [env.py: 1079] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.9 deg [env.py: 1082] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/11 15:16:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:16:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94125907 0.52149453 0.00763977] yaw=-167.6deg [env.py: 1019] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08093877 1.00854759 0.00763977] yaw=-146.8deg [env.py: 1019] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:16:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=312.3ms, total=312.3ms [env.py: 1075] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.873, 0.050, 0.008) [env.py: 1079] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.2 deg [env.py: 1082] +05/11 15:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/11 15:16:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:16:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:16:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:16:59 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 15:16:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:16:59 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 15:16:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/11 15:16:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:17:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:17:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/11 15:17:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:17:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:17:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.110s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:17:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:17:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.916s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:17:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.506[m] 91.690[deg] [grasp_sample.py: 539] +05/11 15:17:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:17:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.188s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:17:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.545[m] 88.445[deg] [grasp_sample.py: 539] +05/11 15:17:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:17:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:17:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:17:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:17:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:17:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:17:30 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:17:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 15:17:30 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:17:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:17:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:17:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.38s (batch: 4.74s, save: 11.64s) [pipeline.py: 300] +05/11 15:17:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:17:48 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=2.90s: + episode_total: mean=104.01s, total=416.06s, count=4, min=7445.9ms, max=192447.0ms + sensor_polling: mean=444.4ms, total=289.76s, count=652, min=338.4ms, max=1121.3ms + physics_step: mean=29.6ms, total=19.30s, count=652, min=19.6ms, max=100.4ms + save_trajectories: mean=11.64s, total=11.64s, count=1, min=11640.5ms, max=11640.5ms + save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4737.1ms, max=4737.1ms + task_sampling: mean=725.4ms, total=2.90s, count=4, min=597.9ms, max=876.3ms + task_specific_sample: mean=721.8ms, total=2.89s, count=4, min=593.2ms, max=873.3ms + scene_randomize: mean=1.7ms, total=6.8ms, count=4, min=1.1ms, max=3.2ms + mj_forward_sync: mean=504.6us, total=2.0ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=14.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:17:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:17:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:17:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:17:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:17:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:17:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:17:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:17:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:17:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001886m [env.py: 870] +05/11 15:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:17:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76954593 0.71535891 0.00188606] yaw=-157.8deg [env.py: 1019] +05/11 15:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95647069 0.73509677 0.00188606] yaw=-172.2deg [env.py: 1019] +05/11 15:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04227871 0.90805833 0.00188606] yaw=-155.4deg [env.py: 1019] +05/11 15:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:17:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.1ms, total=190.1ms [env.py: 1075] +05/11 15:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.715, 0.002) [env.py: 1079] +05/11 15:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.8 deg [env.py: 1082] +05/11 15:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/11 15:17:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:17:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:17:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:17:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:17:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:17:50 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 15:17:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 15:17:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:17:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:17:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:17:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.099s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:17:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.946s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:17:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.516[m] 86.786[deg] [grasp_sample.py: 539] +05/11 15:17:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:17:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:17:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:17:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:17:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:17:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:18:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:18:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:18:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:18:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:18:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:18:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:18:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:18:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:18:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:18:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:18:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:18:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:18:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 15:18:39 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.345s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:18:39 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.360[deg] [grasp_sample.py: 539] +05/11 15:18:40 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:18:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:18:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:18:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:18:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:18:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:18:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:18:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:18:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:18:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:18:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:18:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:18:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019018m [env.py: 870] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:18:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75967386 -0.00833492 0.0190175 ] yaw=141.2deg [env.py: 1019] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72544603 0.95875112 0.0190175 ] yaw=-153.8deg [env.py: 1019] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99222404 1.1369576 0.0190175 ] yaw=-127.2deg [env.py: 1019] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:18:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=284.6ms, total=284.6ms [env.py: 1075] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.760, -0.008, 0.019) [env.py: 1079] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.2 deg [env.py: 1082] +05/11 15:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/11 15:18:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:18:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:18:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:18:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:18:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:18:43 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 15:18:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/11 15:18:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:18:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:18:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:18:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.230s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:18:45 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.598[m] 84.199[deg] [grasp_sample.py: 539] +05/11 15:18:47 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:18:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:18:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:18:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:18:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:18:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:18:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:18:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:18:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:18:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:18:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:18:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063563m [env.py: 870] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:18:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90783329 0.86208789 0.06356315] yaw=-147.7deg [env.py: 1019] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03239364 0.12471131 0.06356315] yaw=153.4deg [env.py: 1019] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:18:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95528151 0.72847805 0.06356315] yaw=-167.8deg [env.py: 1019] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:18:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=271.8ms, total=271.8ms [env.py: 1075] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.908, 0.862, 0.064) [env.py: 1079] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.7 deg [env.py: 1082] +05/11 15:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m [env.py: 1086] +05/11 15:18:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:18:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:18:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:18:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:18:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:18:49 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 15:18:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/11 15:18:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:18:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:18:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:18:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.790s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:18:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.430[m] 82.528[deg] [grasp_sample.py: 539] +05/11 15:18:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:18:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:18:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:18:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:19:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:19:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:19:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:19:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:19:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:19:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:19:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:19:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:19:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:19:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:19:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:19:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:19:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:19:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 15:19:46 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.508s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:19:46 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.304[deg] [grasp_sample.py: 539] +05/11 15:19:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:19:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:19:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:19:53 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:20:00 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:20:15 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:20:30 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:20:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 15:20:30 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:20:40 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:20:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 15:20:40 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:20:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:20:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:20:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 20.08s (batch: 5.42s, save: 14.66s) [pipeline.py: 300] +05/11 15:20:51 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.26s: + episode_total: mean=118.27s, total=236.55s, count=2, min=4289.7ms, max=232255.6ms + sensor_polling: mean=445.3ms, total=133.60s, count=300, min=326.9ms, max=898.4ms + save_trajectories: mean=14.66s, total=14.66s, count=1, min=14664.3ms, max=14664.3ms + physics_step: mean=32.1ms, total=9.62s, count=300, min=17.8ms, max=135.2ms + save_batch_prep: mean=5.42s, total=5.42s, count=1, min=5415.7ms, max=5415.7ms + task_sampling: mean=632.2ms, total=1.26s, count=2, min=613.1ms, max=651.3ms + task_specific_sample: mean=628.2ms, total=1.26s, count=2, min=608.6ms, max=647.8ms + scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.4ms, max=2.9ms + mj_forward_sync: mean=603.5us, total=1.2ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:20:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:20:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:20:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:20:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:20:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:20:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:20:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:20:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:20:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008213m [env.py: 870] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:20:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90078231 0.7178375 0.0082129 ] yaw=-170.2deg [env.py: 1019] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.72370913 0.7684397 0.0082129 ] yaw=-166.1deg [env.py: 1019] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.10106561 1.23635756 0.0082129 ] yaw=-132.1deg [env.py: 1019] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:20:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=271.5ms, total=271.5ms [env.py: 1075] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.718, 0.008) [env.py: 1079] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.2 deg [env.py: 1082] +05/11 15:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/11 15:20:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:20:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:20:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:20:54 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 15:20:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/11 15:20:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:20:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:20:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:20:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.644s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:20:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.394[m] 88.605[deg] [grasp_sample.py: 539] +05/11 15:20:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:20:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:20:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:20:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:20:57 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:20:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 15:20:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:20:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:20:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:20:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.79s (batch: 4.38s, save: 12.41s) [pipeline.py: 300] +05/11 15:20:58 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.65s: + episode_total: mean=238.81s, total=238.81s, count=1, min=238813.8ms, max=238813.8ms + sensor_polling: mean=437.3ms, total=131.18s, count=300, min=332.9ms, max=1003.3ms + save_trajectories: mean=12.41s, total=12.41s, count=1, min=12409.8ms, max=12409.8ms + physics_step: mean=30.1ms, total=9.02s, count=300, min=18.4ms, max=87.3ms + save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4383.2ms, max=4383.2ms + task_sampling: mean=650.0ms, total=650.0ms, count=1, min=650.0ms, max=650.0ms + task_specific_sample: mean=645.4ms, total=645.4ms, count=1, min=645.4ms, max=645.4ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=490.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:20:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:20:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:20:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:20:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:20:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:20:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:20:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:20:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:20:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065443m [env.py: 870] +05/11 15:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:20:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6704472 0.42941468 0.06544278] yaw=169.3deg [env.py: 1019] +05/11 15:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85726075 1.07496304 0.06544278] yaw=-139.2deg [env.py: 1019] +05/11 15:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79231192 0.01746843 0.06544278] yaw=163.3deg [env.py: 1019] +05/11 15:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:20:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.0ms, total=126.1ms [env.py: 1075] +05/11 15:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.670, 0.429, 0.065) [env.py: 1079] +05/11 15:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.3 deg [env.py: 1082] +05/11 15:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/11 15:20:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:20:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:20:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:20:59 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 15:21:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 15:21:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:21:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:21:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:21:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.813s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:21:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.556[m] 83.648[deg] [grasp_sample.py: 539] +05/11 15:21:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:21:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:21:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:21:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:21:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:21:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:21:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 16.62s (batch: 4.46s, save: 12.16s) [pipeline.py: 300] +05/11 15:21:14 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.51s: + episode_total: mean=205.01s, total=205.01s, count=1, min=205008.6ms, max=205008.6ms + sensor_polling: mean=441.1ms, total=132.34s, count=300, min=351.1ms, max=832.9ms + save_trajectories: mean=12.16s, total=12.16s, count=1, min=12162.1ms, max=12162.1ms + physics_step: mean=28.3ms, total=8.50s, count=300, min=18.4ms, max=77.5ms + save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4457.2ms, max=4457.2ms + task_sampling: mean=509.3ms, total=509.3ms, count=1, min=509.3ms, max=509.3ms + task_specific_sample: mean=505.1ms, total=505.1ms, count=1, min=505.1ms, max=505.1ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=488.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:21:15 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:21:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:21:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:21:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:21:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:21:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:21:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:21:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:21:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:21:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:21:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:21:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091648m [env.py: 870] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:21:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88481932 0.49038918 0.09164849] yaw=-185.7deg [env.py: 1019] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79170583 -0.00961533 0.09164849] yaw=155.4deg [env.py: 1019] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94666935 0.97525674 0.09164849] yaw=-139.1deg [env.py: 1019] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:21:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=224.2ms, total=224.2ms [env.py: 1075] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.490, 0.092) [env.py: 1079] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.7 deg [env.py: 1082] +05/11 15:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/11 15:21:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:21:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:21:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:21:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:21:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:21:16 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 15:21:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/11 15:21:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:21:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:21:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:21:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.800s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:21:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.405[m] 93.263[deg] [grasp_sample.py: 539] +05/11 15:21:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:21:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:21:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:21:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:21:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:21:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:21:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:21:44 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:21:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 15:21:44 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:21:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:21:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:22:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:22:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:22:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 19.78s (batch: 3.87s, save: 15.91s) [pipeline.py: 300] +05/11 15:22:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:22:04 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.98s: + episode_total: mean=119.43s, total=358.30s, count=3, min=4651.8ms, max=195756.1ms + sensor_polling: mean=431.2ms, total=256.57s, count=595, min=340.7ms, max=889.3ms + physics_step: mean=29.5ms, total=17.53s, count=595, min=22.0ms, max=290.1ms + save_trajectories: mean=15.91s, total=15.91s, count=1, min=15909.0ms, max=15909.0ms + save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3873.2ms, max=3873.2ms + task_sampling: mean=658.3ms, total=1.98s, count=3, min=621.0ms, max=715.1ms + task_specific_sample: mean=654.4ms, total=1.96s, count=3, min=616.6ms, max=710.9ms + scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.3ms, max=2.9ms + mj_forward_sync: mean=537.1us, total=1.6ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=17.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:22:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:22:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:22:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:22:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:22:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:22:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:22:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:22:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:22:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:22:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056527m [env.py: 870] +05/11 15:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:22:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7048801 0.07052301 0.0565267 ] yaw=164.7deg [env.py: 1019] +05/11 15:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.16616363 1.01944514 0.0565267 ] yaw=-131.4deg [env.py: 1019] +05/11 15:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96884429 1.16990232 0.0565267 ] yaw=-130.2deg [env.py: 1019] +05/11 15:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:22:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=478.3ms, total=478.4ms [env.py: 1075] +05/11 15:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.705, 0.071, 0.057) [env.py: 1079] +05/11 15:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.7 deg [env.py: 1082] +05/11 15:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/11 15:22:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:22:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:22:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:22:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:22:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:22:07 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 15:22:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/11 15:22:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:22:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:22:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:22:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:22:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.996s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:22:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.634[m] 88.929[deg] [grasp_sample.py: 539] +05/11 15:22:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:22:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:22:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:22:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:23:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:23:20 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:23:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:23:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:23:31 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:23:51 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:23:54 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:23:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 15:23:54 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/11 15:24:01 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:24:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 15:24:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:24:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:24:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:24:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 15.87s (batch: 3.96s, save: 11.91s) [pipeline.py: 300] +05/11 15:24:11 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.59s: + episode_total: mean=197.85s, total=197.85s, count=1, min=197852.1ms, max=197852.1ms + sensor_polling: mean=443.3ms, total=132.55s, count=299, min=347.9ms, max=800.4ms + save_trajectories: mean=11.91s, total=11.91s, count=1, min=11907.7ms, max=11907.7ms + physics_step: mean=33.0ms, total=9.86s, count=299, min=17.2ms, max=110.1ms + save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3964.5ms, max=3964.5ms + task_sampling: mean=585.8ms, total=585.8ms, count=1, min=585.8ms, max=585.8ms + task_specific_sample: mean=581.2ms, total=581.2ms, count=1, min=581.2ms, max=581.2ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=652.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:24:13 WARNING: [Worker 0] No trajectory data to save for chunk_102 [pipeline.py: 234] +05/11 15:24:13 WARNING: [Worker 0] No trajectory data to save for chunk_102 [pipeline.py: 234] +05/11 15:24:13 INFO: [Worker 0] Worker 0 completed house 1: 10/12 successful episodes [pipeline.py: 1323] +05/11 15:24:13 INFO: [Worker 0] [PROFILE] House 1 complete: 10/12 successful, 12 episodes, total_time=5122.64s + House averages: + episode_total: mean=158.95s, total=2861.06s, count=18, min=204.0ms, max=232255.6ms + sensor_polling: mean=436.9ms, total=1912.77s, count=4378, min=309.9ms, max=1256.8ms + physics_step: mean=30.3ms, total=132.73s, count=4378, min=15.3ms, max=197.0ms + save_trajectories: mean=12.95s, total=129.48s, count=10, min=10847.7ms, max=15261.3ms + save_batch_prep: mean=4.51s, total=45.14s, count=10, min=3411.6ms, max=5415.7ms + task_sampling: mean=984.4ms, total=16.73s, count=17, min=414.0ms, max=6832.2ms + task_specific_sample: mean=619.5ms, total=11.15s, count=18, min=199.1ms, max=1115.2ms + scene_load: mean=5.71s, total=5.71s, count=1, min=5714.2ms, max=5714.2ms + scene_env_create: mean=3.74s, total=3.74s, count=1, min=3743.7ms, max=3743.7ms + scene_compile: mean=1.78s, total=1.78s, count=1, min=1775.1ms, max=1775.1ms + compile_mujoco: mean=1.13s, total=1.13s, count=1, min=1132.0ms, max=1132.0ms + compile_xml_load: mean=547.9ms, total=547.9ms, count=1, min=547.9ms, max=547.9ms + task_sampling_failed: mean=203.9ms, total=203.9ms, count=1, min=203.9ms, max=203.9ms + scene_init: mean=121.8ms, total=121.8ms, count=1, min=121.8ms, max=121.8ms + scene_asset_install: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms + compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + asset_install_grasps: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms + scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.1ms, max=3.2ms + compile_robot_add: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms + asset_install_objects: mean=16.9ms, total=16.9ms, count=1, min=16.9ms, max=16.9ms + mj_forward_sync: mean=547.1us, total=9.8ms, count=18, min=0.5ms, max=0.7ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 15:24:13 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 15:24:13 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5122.64s + Worker averages: + episode_total: mean=158.95s, total=2861.06s, count=18, min=204.0ms, max=232255.6ms + sensor_polling: mean=436.9ms, total=1912.77s, count=4378, min=309.9ms, max=1256.8ms + physics_step: mean=30.3ms, total=132.73s, count=4378, min=15.3ms, max=197.0ms + save_trajectories: mean=12.95s, total=129.48s, count=10, min=10847.7ms, max=15261.3ms + save_batch_prep: mean=4.51s, total=45.14s, count=10, min=3411.6ms, max=5415.7ms + task_sampling: mean=984.4ms, total=16.73s, count=17, min=414.0ms, max=6832.2ms + task_specific_sample: mean=619.5ms, total=11.15s, count=18, min=199.1ms, max=1115.2ms + scene_load: mean=5.71s, total=5.71s, count=1, min=5714.2ms, max=5714.2ms + scene_env_create: mean=3.74s, total=3.74s, count=1, min=3743.7ms, max=3743.7ms + scene_compile: mean=1.78s, total=1.78s, count=1, min=1775.1ms, max=1775.1ms + compile_mujoco: mean=1.13s, total=1.13s, count=1, min=1132.0ms, max=1132.0ms + compile_xml_load: mean=547.9ms, total=547.9ms, count=1, min=547.9ms, max=547.9ms + task_sampling_failed: mean=203.9ms, total=203.9ms, count=1, min=203.9ms, max=203.9ms + scene_init: mean=121.8ms, total=121.8ms, count=1, min=121.8ms, max=121.8ms + scene_asset_install: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms + compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + asset_install_grasps: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms + scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.1ms, max=3.2ms + compile_robot_add: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms + asset_install_objects: mean=16.9ms, total=16.9ms, count=1, min=16.9ms, max=16.9ms + mj_forward_sync: mean=547.1us, total=9.8ms, count=18, min=0.5ms, max=0.7ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 15:24:17 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 15:24:17 INFO: Success count: 10, Total count: 12 [pipeline.py: 1491] +05/11 15:24:17 INFO: Success rate: 83.33% [pipeline.py: 1492] +05/11 15:24:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:24:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:24:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 17.99s (batch: 4.07s, save: 13.92s) [pipeline.py: 300] +05/11 15:24:20 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.45s: + episode_total: mean=200.95s, total=200.95s, count=1, min=200945.8ms, max=200945.8ms + sensor_polling: mean=455.5ms, total=136.64s, count=300, min=348.9ms, max=1143.1ms + save_trajectories: mean=13.92s, total=13.92s, count=1, min=13920.0ms, max=13920.0ms + physics_step: mean=32.8ms, total=9.84s, count=300, min=22.4ms, max=111.2ms + save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4074.9ms, max=4074.9ms + task_sampling: mean=451.2ms, total=451.2ms, count=1, min=451.2ms, max=451.2ms + task_specific_sample: mean=446.9ms, total=446.9ms, count=1, min=446.9ms, max=446.9ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=576.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:24:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:24:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:24:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:24:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:24:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:24:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:24:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:24:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:24:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011603m [env.py: 870] +05/11 15:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:24:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89964785 0.35948625 0.01160336] yaw=174.0deg [env.py: 1019] +05/11 15:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01886506 0.87018715 0.01160336] yaw=-160.0deg [env.py: 1019] +05/11 15:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76811805 0.52676216 0.01160336] yaw=-187.2deg [env.py: 1019] +05/11 15:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:24:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=235.1ms, total=235.2ms [env.py: 1075] +05/11 15:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.359, 0.012) [env.py: 1079] +05/11 15:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.0 deg [env.py: 1082] +05/11 15:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m [env.py: 1086] +05/11 15:24:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:24:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:24:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:24:22 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 15:24:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.224s [base_object_manipulation_planner_policy.py: 377] +05/11 15:24:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:24:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:24:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.137s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:24:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.221s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:24:24 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.358[m] 87.202[deg] [grasp_sample.py: 539] +05/11 15:24:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:24:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:24:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:24:25 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:24:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 15:24:25 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:24:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:24:41 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:24:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:24:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:24:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 17.13s (batch: 5.14s, save: 11.99s) [pipeline.py: 300] +05/11 15:24:43 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.57s: + episode_total: mean=206.71s, total=206.71s, count=1, min=206713.4ms, max=206713.4ms + sensor_polling: mean=459.2ms, total=137.75s, count=300, min=348.3ms, max=868.4ms + save_trajectories: mean=11.99s, total=11.99s, count=1, min=11993.7ms, max=11993.7ms + physics_step: mean=33.1ms, total=9.93s, count=300, min=22.2ms, max=120.4ms + save_batch_prep: mean=5.14s, total=5.14s, count=1, min=5136.2ms, max=5136.2ms + task_sampling: mean=573.1ms, total=573.1ms, count=1, min=573.1ms, max=573.1ms + task_specific_sample: mean=568.7ms, total=568.7ms, count=1, min=568.7ms, max=568.7ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=504.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:24:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:24:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:24:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:24:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:24:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:24:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:24:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:24:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:24:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:24:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:24:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:24:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:24:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:24:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087626m [env.py: 870] +05/11 15:24:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:24:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:24:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:24:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:24:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:24:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:24:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:24:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:24:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=248.7ms, total=248.8ms [env.py: 1105] +05/11 15:24:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 285] +05/11 15:24:44 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/11 15:24:46 WARNING: [Worker 0] No trajectory data to save for chunk_102 [pipeline.py: 234] +05/11 15:24:46 WARNING: [Worker 0] No trajectory data to save for chunk_102 [pipeline.py: 234] +05/11 15:24:46 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes [pipeline.py: 1323] +05/11 15:24:46 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5163.35s + House averages: + episode_total: mean=160.92s, total=2896.62s, count=18, min=266.2ms, max=248644.1ms + sensor_polling: mean=445.0ms, total=1876.50s, count=4217, min=319.2ms, max=1121.3ms + save_trajectories: mean=12.23s, total=159.05s, count=13, min=11309.5ms, max=13815.3ms + physics_step: mean=30.6ms, total=129.14s, count=4217, min=17.2ms, max=120.4ms + save_batch_prep: mean=4.58s, total=59.54s, count=13, min=3970.4ms, max=5417.7ms + task_sampling: mean=998.7ms, total=16.98s, count=17, min=414.1ms, max=6897.7ms + task_specific_sample: mean=624.4ms, total=11.24s, count=18, min=258.0ms, max=966.1ms + scene_load: mean=5.93s, total=5.93s, count=1, min=5927.9ms, max=5927.9ms + scene_env_create: mean=3.76s, total=3.76s, count=1, min=3761.2ms, max=3761.2ms + scene_compile: mean=1.97s, total=1.97s, count=1, min=1970.9ms, max=1970.9ms + compile_mujoco: mean=1.13s, total=1.13s, count=1, min=1133.2ms, max=1133.2ms + compile_xml_load: mean=744.4ms, total=744.4ms, count=1, min=744.4ms, max=744.4ms + task_sampling_failed: mean=266.2ms, total=266.2ms, count=1, min=266.2ms, max=266.2ms + scene_init: mean=116.4ms, total=116.4ms, count=1, min=116.4ms, max=116.4ms + scene_asset_install: mean=79.1ms, total=79.1ms, count=1, min=79.1ms, max=79.1ms + asset_install_grasps: mean=58.5ms, total=58.5ms, count=1, min=58.5ms, max=58.5ms + compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + scene_randomize: mean=2.5ms, total=44.4ms, count=18, min=1.1ms, max=3.8ms + compile_robot_add: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms + asset_install_objects: mean=16.2ms, total=16.2ms, count=1, min=16.2ms, max=16.2ms + mj_forward_sync: mean=520.2us, total=9.4ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + policy_setup: mean=20.1us, total=0.3ms, count=17, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 15:24:46 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 15:24:46 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5163.35s + Worker averages: + episode_total: mean=160.92s, total=2896.62s, count=18, min=266.2ms, max=248644.1ms + sensor_polling: mean=445.0ms, total=1876.50s, count=4217, min=319.2ms, max=1121.3ms + save_trajectories: mean=12.23s, total=159.05s, count=13, min=11309.5ms, max=13815.3ms + physics_step: mean=30.6ms, total=129.14s, count=4217, min=17.2ms, max=120.4ms + save_batch_prep: mean=4.58s, total=59.54s, count=13, min=3970.4ms, max=5417.7ms + task_sampling: mean=998.7ms, total=16.98s, count=17, min=414.1ms, max=6897.7ms + task_specific_sample: mean=624.4ms, total=11.24s, count=18, min=258.0ms, max=966.1ms + scene_load: mean=5.93s, total=5.93s, count=1, min=5927.9ms, max=5927.9ms + scene_env_create: mean=3.76s, total=3.76s, count=1, min=3761.2ms, max=3761.2ms + scene_compile: mean=1.97s, total=1.97s, count=1, min=1970.9ms, max=1970.9ms + compile_mujoco: mean=1.13s, total=1.13s, count=1, min=1133.2ms, max=1133.2ms + compile_xml_load: mean=744.4ms, total=744.4ms, count=1, min=744.4ms, max=744.4ms + task_sampling_failed: mean=266.2ms, total=266.2ms, count=1, min=266.2ms, max=266.2ms + scene_init: mean=116.4ms, total=116.4ms, count=1, min=116.4ms, max=116.4ms + scene_asset_install: mean=79.1ms, total=79.1ms, count=1, min=79.1ms, max=79.1ms + asset_install_grasps: mean=58.5ms, total=58.5ms, count=1, min=58.5ms, max=58.5ms + compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + scene_randomize: mean=2.5ms, total=44.4ms, count=18, min=1.1ms, max=3.8ms + compile_robot_add: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms + asset_install_objects: mean=16.2ms, total=16.2ms, count=1, min=16.2ms, max=16.2ms + mj_forward_sync: mean=520.2us, total=9.4ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + policy_setup: mean=20.1us, total=0.3ms, count=17, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 15:24:49 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 15:24:49 INFO: Success count: 13, Total count: 13 [pipeline.py: 1491] +05/11 15:24:49 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/11 15:24:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:25:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:25:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:25:12 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:25:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 15:25:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:25:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:25:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:25:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 15.57s (batch: 4.39s, save: 11.17s) [pipeline.py: 300] +05/11 15:25:28 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.81s: + episode_total: mean=201.60s, total=201.60s, count=1, min=201596.2ms, max=201596.2ms + sensor_polling: mean=452.2ms, total=135.65s, count=300, min=337.8ms, max=829.3ms + save_trajectories: mean=11.17s, total=11.17s, count=1, min=11172.1ms, max=11172.1ms + physics_step: mean=32.2ms, total=9.67s, count=300, min=21.4ms, max=93.3ms + save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4393.8ms, max=4393.8ms + task_sampling: mean=806.4ms, total=806.4ms, count=1, min=806.4ms, max=806.4ms + task_specific_sample: mean=801.2ms, total=801.2ms, count=1, min=801.2ms, max=801.2ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:25:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:25:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:25:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:25:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:25:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:25:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:25:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:25:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:25:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078065m [env.py: 870] +05/11 15:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:25:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84160026 0.10448149 0.07806513] yaw=149.6deg [env.py: 1019] +05/11 15:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:25:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.5ms, total=195.5ms [env.py: 1075] +05/11 15:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.842, 0.104, 0.078) [env.py: 1079] +05/11 15:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.6 deg [env.py: 1082] +05/11 15:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m [env.py: 1086] +05/11 15:25:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:25:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:25:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:25:30 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 15:25:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 15:25:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:25:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:25:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:25:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.775s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:25:31 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.476[m] 85.836[deg] [grasp_sample.py: 539] +05/11 15:25:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:25:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:25:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:25:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:25:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:25:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:25:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:25:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:26:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:26:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:26:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:26:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:26:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:26:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:26:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:26:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:26:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 15:26:08 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.694s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:26:08 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.107[deg] [grasp_sample.py: 539] +05/11 15:26:09 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:26:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:26:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:26:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:26:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:26:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:26:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:26:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:26:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:26:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081116m [env.py: 870] +05/11 15:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:26:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8288219 0.47863552 0.08111639] yaw=178.9deg [env.py: 1019] +05/11 15:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12507903 1.16169166 0.08111639] yaw=-125.9deg [env.py: 1019] +05/11 15:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.1263907 1.03484718 0.08111639] yaw=-147.1deg [env.py: 1019] +05/11 15:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:26:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.3ms, total=119.4ms [env.py: 1075] +05/11 15:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.479, 0.081) [env.py: 1079] +05/11 15:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.9 deg [env.py: 1082] +05/11 15:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/11 15:26:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:26:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:26:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:26:11 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 15:26:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/11 15:26:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:26:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:26:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:26:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.683s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:26:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.419[m] 88.270[deg] [grasp_sample.py: 539] +05/11 15:26:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:26:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:26:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] diff --git a/fridge_m/sim_chunks/chunk_102/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_102/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c75ca3b1991600b329f14153d82db4348fc7b57a --- /dev/null +++ b/fridge_m/sim_chunks/chunk_102/trajectories_batch_1_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:184f50ded8bd31707da0dc584c8581c32c420aab10bab38d2ab7f99095445327 +size 781034136 diff --git a/fridge_m/sim_chunks/chunk_102/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_102/trajectories_batch_2_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eb74986460c6558a49949cd8661d1295af86c479 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_102/trajectories_batch_2_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c4b9c905fb2c9bcd297697d57e084c8b3e16136ce5756d82bc00625b5d0710d +size 921506435 diff --git a/fridge_m/sim_chunks/chunk_102/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_102/trajectories_batch_3_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8c9085ab53af41760b2a4b22a0abd4c5dee291b5 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_102/trajectories_batch_3_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a80982fab8b393c8b490b948ace00c6950e2b63dca9e2d80b0059ae55f2b56c +size 1012239259 diff --git a/fridge_m/sim_chunks/chunk_102/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_102/trajectories_batch_4_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4b17e7dc3f735142c6f2618d6f6d0a70686e3248 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_102/trajectories_batch_4_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:317a9897d3c721a7356f6ea2c9f513ec4ae26fa03430c2d2aeb4dd63f82e29f4 +size 783930085