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a/fridge_7/chunk_009/episode_00000016_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_7/chunk_009/episode_00000016_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..96e4194c4f13abb699a6e9551a9b2ebe705b5ae8 --- /dev/null +++ b/fridge_7/chunk_009/episode_00000016_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d680b671ce038d2938f75f70d2b8b8a2e0de2a34948d04b65c5a8411cbc7902 +size 124945 diff --git a/fridge_7/chunk_009/episode_00000016_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_7/chunk_009/episode_00000016_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d2d8771a74669b2c287175b69f0f0fc1c4646e21 --- /dev/null +++ b/fridge_7/chunk_009/episode_00000016_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0764cf88c7f19daa99d1bdf1d6b3c2ad757f7f981b6946a8957d5e2b1e304cd7 +size 478118 diff --git a/fridge_7/chunk_009/running_log.log b/fridge_7/chunk_009/running_log.log index a4cf73d2344b15e7753b6d64b585add18281dfc8..c8e619c860890c7cd6cec09047bd8a4f9849b2ee 100644 --- a/fridge_7/chunk_009/running_log.log +++ b/fridge_7/chunk_009/running_log.log @@ -5155,3 +5155,1381 @@ 05/10 22:22:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] 05/10 22:22:34 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] 05/10 22:22:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:22:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:22:59 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:22:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/10 22:22:59 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:23:05 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:23:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:23:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:23:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.87s (batch: 4.06s, save: 7.81s) [pipeline.py: 300] +05/10 22:23:11 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.43s: + episode_total: mean=187.23s, total=187.23s, count=1, min=187232.5ms, max=187232.5ms + sensor_polling: mean=463.5ms, total=139.06s, count=300, min=384.0ms, max=742.2ms + save_trajectories: mean=7.81s, total=7.81s, count=1, min=7812.4ms, max=7812.4ms + physics_step: mean=21.6ms, total=6.48s, count=300, min=13.4ms, max=74.8ms + save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4055.3ms, max=4055.3ms + task_sampling: mean=429.1ms, total=429.1ms, count=1, min=429.1ms, max=429.1ms + task_specific_sample: mean=425.6ms, total=425.6ms, count=1, min=425.6ms, max=425.6ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=381.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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] +05/10 22:23:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:23:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:23:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:23:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:23:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:23:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:23:13 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] +05/10 22:23:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:23:13 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] +05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018567m [env.py: 870] +05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:23:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83947089 0.10069514 0.0185669 ] yaw=159.7deg [env.py: 1019] +05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90573385 0.68221977 0.0185669 ] yaw=-174.6deg [env.py: 1019] +05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88724782 0.42898095 0.0185669 ] yaw=174.1deg [env.py: 1019] +05/10 22:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:23:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=494.2ms, total=494.2ms [env.py: 1075] +05/10 22:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.101, 0.019) [env.py: 1079] +05/10 22:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg [env.py: 1082] +05/10 22:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/10 22:23:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:23:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:23:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:23:14 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/10 22:23:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s [base_object_manipulation_planner_policy.py: 377] +05/10 22:23:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:23:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:23:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:23:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.129s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:23:15 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.544[m] 104.107[deg] [grasp_sample.py: 539] +05/10 22:23:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:23:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:23:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:23:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:23:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:23:27 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:23:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/10 22:23:27 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/10 22:23:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:23:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:23:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:23:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.89s (batch: 3.84s, save: 8.05s) [pipeline.py: 300] +05/10 22:23:39 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.41s: + episode_total: mean=187.78s, total=187.78s, count=1, min=187779.3ms, max=187779.3ms + sensor_polling: mean=484.2ms, total=141.87s, count=293, min=402.9ms, max=915.5ms + save_trajectories: mean=8.05s, total=8.05s, count=1, min=8050.6ms, max=8050.6ms + physics_step: mean=22.8ms, total=6.69s, count=293, min=14.1ms, max=57.2ms + save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3843.2ms, max=3843.2ms + task_sampling: mean=407.9ms, total=407.9ms, count=1, min=407.9ms, max=407.9ms + task_specific_sample: mean=404.2ms, total=404.2ms, count=1, min=404.2ms, max=404.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=387.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.8us, 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] +05/10 22:23:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:23:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:23:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:23:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:23:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:23:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:23:41 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] +05/10 22:23:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:23:41 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] +05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031420m [env.py: 870] +05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:23:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74422943 0.77382923 0.03141982] yaw=-171.7deg [env.py: 1019] +05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:23:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=228.2ms, total=228.3ms [env.py: 1075] +05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.774, 0.031) [env.py: 1079] +05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.7 deg [env.py: 1082] +05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/10 22:23:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:23:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:23:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:23:41 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/10 22:23:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/10 22:23:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:23:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:23:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:23:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.608s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:23:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.583[m] 91.074[deg] [grasp_sample.py: 539] +05/10 22:23:44 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/10 22:23:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:23:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:23:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:23:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:23:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:23:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:23:45 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] +05/10 22:23:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:23:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026704m [env.py: 870] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:23:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67523858 0.29137131 0.02670364] yaw=173.1deg [env.py: 1019] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81969392 0.13940133 0.02670364] yaw=159.1deg [env.py: 1019] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8674853 0.22308104 0.02670364] yaw=165.4deg [env.py: 1019] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:23:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.3ms, total=141.3ms [env.py: 1075] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.675, 0.291, 0.027) [env.py: 1079] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.1 deg [env.py: 1082] +05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m [env.py: 1086] +05/10 22:23:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:23:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:23:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:23:46 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/10 22:23:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/10 22:23:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:23:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:23:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:23:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.613s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:23:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.586[m] 86.063[deg] [grasp_sample.py: 539] +05/10 22:23:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:23:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:23:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:23:56 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:24:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:24:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:24:17 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:24:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/10 22:24:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:24:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:24:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:24:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:24:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.64s (batch: 4.06s, save: 7.58s) [pipeline.py: 300] +05/10 22:24:30 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.38s: + episode_total: mean=188.26s, total=188.26s, count=1, min=188257.0ms, max=188257.0ms + sensor_polling: mean=475.4ms, total=142.62s, count=300, min=386.5ms, max=871.7ms + save_trajectories: mean=7.58s, total=7.58s, count=1, min=7576.6ms, max=7576.6ms + physics_step: mean=21.6ms, total=6.49s, count=300, min=16.6ms, max=48.1ms + save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4064.8ms, max=4064.8ms + task_sampling: mean=376.4ms, total=376.4ms, count=1, min=376.4ms, max=376.4ms + task_specific_sample: mean=372.7ms, total=372.7ms, count=1, min=372.7ms, max=372.7ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=435.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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] +05/10 22:24:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:24:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:24:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:24:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:24:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:24:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:24:31 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] +05/10 22:24:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:24:31 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] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024004m [env.py: 870] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:24:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05857845 1.18804482 0.02400358] yaw=-123.0deg [env.py: 1019] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86360394 0.9534524 0.02400358] yaw=-159.3deg [env.py: 1019] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93201839 0.96945378 0.02400358] yaw=-149.5deg [env.py: 1019] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:24:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.0ms, total=163.0ms [env.py: 1075] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.059, 1.188, 0.024) [env.py: 1079] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.0 deg [env.py: 1082] +05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/10 22:24:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:24:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:24:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:24:32 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/10 22:24:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/10 22:24:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:24:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:24:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:24:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.207s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:24:36 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.552[m] 92.432[deg] [grasp_sample.py: 539] +05/10 22:24:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:24:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:24:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:24:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:24:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:24:56 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:24:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:25:21 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:25:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/10 22:25:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:25:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:25:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:25:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:25:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:25:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:25:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:25:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.85s (batch: 4.19s, save: 7.66s) [pipeline.py: 300] +05/10 22:25:33 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.85s: + episode_total: mean=146.96s, total=293.93s, count=2, min=110581.8ms, max=183345.7ms + sensor_polling: mean=464.9ms, total=220.82s, count=475, min=392.7ms, max=820.5ms + physics_step: mean=21.7ms, total=10.30s, count=475, min=16.6ms, max=58.2ms + save_trajectories: mean=7.66s, total=7.66s, count=1, min=7657.8ms, max=7657.8ms + save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4188.8ms, max=4188.8ms + task_sampling: mean=423.5ms, total=847.0ms, count=2, min=411.4ms, max=435.6ms + task_specific_sample: mean=419.9ms, total=839.9ms, count=2, min=408.1ms, max=431.8ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.7ms, max=2.2ms + mj_forward_sync: mean=479.2us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=18.2us, 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] +05/10 22:25:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:25:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:25:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:25:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:25:35 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] +05/10 22:25:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:25:35 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] +05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056537m [env.py: 870] +05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:25:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90325356 0.63092802 0.05653677] yaw=-180.4deg [env.py: 1019] +05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88350806 1.0012928 0.05653677] yaw=-147.5deg [env.py: 1019] +05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98740937 0.11481577 0.05653677] yaw=152.4deg [env.py: 1019] +05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:25:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.4ms, total=120.4ms [env.py: 1075] +05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.903, 0.631, 0.057) [env.py: 1079] +05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.4 deg [env.py: 1082] +05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m [env.py: 1086] +05/10 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:25:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:25:35 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/10 22:25:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s [base_object_manipulation_planner_policy.py: 377] +05/10 22:25:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:25:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:25:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:25:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.413s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:25:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.389[m] 92.246[deg] [grasp_sample.py: 539] +05/10 22:25:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:25:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:25:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:25:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:25:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:25:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:25:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:25:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:25:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:25:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:25:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:26:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:26:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:26:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:26:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:26:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:26:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:26:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/10 22:26:02 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.412s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:26:02 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.390[deg] [grasp_sample.py: 539] +05/10 22:26:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:26:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:26:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:26:07 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:26:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:26:18 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:26:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:26:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:26:28 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:26:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/10 22:26:28 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:26:39 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:26:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/10 22:26:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:26:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:26:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:26:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.14s (batch: 3.94s, save: 8.20s) [pipeline.py: 300] +05/10 22:26:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:26:41 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.77s: + episode_total: mean=208.29s, total=208.29s, count=1, min=208292.1ms, max=208292.1ms + sensor_polling: mean=457.9ms, total=137.38s, count=300, min=401.3ms, max=745.1ms + save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.1ms, max=8195.1ms + physics_step: mean=21.4ms, total=6.43s, count=300, min=12.5ms, max=56.3ms + save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3944.3ms, max=3944.3ms + task_sampling: mean=767.0ms, total=767.0ms, count=1, min=767.0ms, max=767.0ms + task_specific_sample: mean=762.4ms, total=762.4ms, count=1, min=762.4ms, max=762.4ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=553.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + 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] +05/10 22:26:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:26:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:26:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:26:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:26:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:26:43 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] +05/10 22:26:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:26:43 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] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045880m [env.py: 870] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:26:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77639093 0.01429618 0.04587987] yaw=152.1deg [env.py: 1019] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90930912 0.52338189 0.04587987] yaw=-168.4deg [env.py: 1019] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07001736 1.05386642 0.04587987] yaw=-147.8deg [env.py: 1019] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:26:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.5ms, total=100.5ms [env.py: 1075] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.776, 0.014, 0.046) [env.py: 1079] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.1 deg [env.py: 1082] +05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086] +05/10 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:26:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:26:43 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/10 22:26:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/10 22:26:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:26:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:26:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:26:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:26:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.384s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:26:45 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.612[m] 99.055[deg] [grasp_sample.py: 539] +05/10 22:26:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:26:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:26:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:26:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:26:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:26:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:26:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:26:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:26:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:26:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:26:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:26:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:26:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/10 22:26:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:26:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:26:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.31s (batch: 3.79s, save: 7.53s) [pipeline.py: 300] +05/10 22:26:51 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.90s: + episode_total: mean=94.41s, total=188.83s, count=2, min=2851.2ms, max=185976.3ms + sensor_polling: mean=466.4ms, total=139.92s, count=300, min=397.2ms, max=907.5ms + save_trajectories: mean=7.53s, total=7.53s, count=1, min=7527.5ms, max=7527.5ms + physics_step: mean=23.0ms, total=6.90s, count=300, min=14.4ms, max=42.5ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3785.7ms, max=3785.7ms + task_sampling: mean=452.2ms, total=904.5ms, count=2, min=361.4ms, max=543.1ms + task_specific_sample: mean=449.1ms, total=898.2ms, count=2, min=358.7ms, max=539.5ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.1ms, max=2.3ms + mj_forward_sync: mean=380.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=17.5us, 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] +05/10 22:26:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.473s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:26:52 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.057[m] 10.113[deg] [grasp_sample.py: 539] +05/10 22:26:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:26:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:26:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:26:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:26:53 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] +05/10 22:26:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:26:53 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] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058448m [env.py: 870] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:26:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77705323 0.91576464 0.05844776] yaw=-161.1deg [env.py: 1019] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:26:53 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94790866 0.79077819 0.05844776] yaw=-150.3deg [env.py: 1019] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15615181 1.08574421 0.05844776] yaw=-139.6deg [env.py: 1019] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:26:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.6ms, total=139.6ms [env.py: 1075] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.916, 0.058) [env.py: 1079] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg [env.py: 1082] +05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/10 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:26:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:26:53 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/10 22:26:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/10 22:26:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:26:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:26:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:26:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:26:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:26:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:26:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:26:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:26:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:26:54 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] +05/10 22:26:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:26:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069315m [env.py: 870] +05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:26:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80308385 0.46582673 0.06931477] yaw=179.2deg [env.py: 1019] +05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91958734 0.11170152 0.06931477] yaw=144.2deg [env.py: 1019] +05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:26:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=177.9ms, total=177.9ms [env.py: 1075] +05/10 22:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.803, 0.466, 0.069) [env.py: 1079] +05/10 22:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.2 deg [env.py: 1082] +05/10 22:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m [env.py: 1086] +05/10 22:26:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:26:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:26:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:26:55 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/10 22:26:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.595s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:26:55 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.567[m] 87.093[deg] [grasp_sample.py: 539] +05/10 22:26:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/10 22:26:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:26:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:26:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:26:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.441s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:26:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.462[m] 90.657[deg] [grasp_sample.py: 539] +05/10 22:26:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:26:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:26:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:26:56 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/10 22:26:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:26:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:26:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:26:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:26:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:26:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:26:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:26:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:26:57 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] +05/10 22:26:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:26:57 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] +05/10 22:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008146m [env.py: 870] +05/10 22:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:26:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66398494 0.32599308 0.00814617] yaw=166.6deg [env.py: 1019] +05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92616365 1.17514129 0.00814617] yaw=-139.3deg [env.py: 1019] +05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83688984 0.95449991 0.00814617] yaw=-149.4deg [env.py: 1019] +05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:26:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.8ms, total=97.8ms [env.py: 1075] +05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.664, 0.326, 0.008) [env.py: 1079] +05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg [env.py: 1082] +05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/10 22:26:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:26:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:26:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:26:58 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/10 22:26:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/10 22:26:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:26:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:26:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:26:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.586s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:26:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.608[m] 88.910[deg] [grasp_sample.py: 539] +05/10 22:26:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:26:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:26:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:27:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:27:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:27:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:27:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:27:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:27:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:27:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:28:05 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:28:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:28:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:28:30 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:28:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/10 22:28:30 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/10 22:28:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:28:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:28:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.10s (batch: 4.01s, save: 8.09s) [pipeline.py: 300] +05/10 22:28:43 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.37s: + episode_total: mean=188.20s, total=188.20s, count=1, min=188203.3ms, max=188203.3ms + sensor_polling: mean=455.9ms, total=136.33s, count=299, min=393.1ms, max=887.2ms + save_trajectories: mean=8.09s, total=8.09s, count=1, min=8094.4ms, max=8094.4ms + physics_step: mean=22.4ms, total=6.71s, count=299, min=15.8ms, max=47.6ms + save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4007.0ms, max=4007.0ms + task_sampling: mean=369.9ms, total=369.9ms, count=1, min=369.9ms, max=369.9ms + task_specific_sample: mean=366.5ms, total=366.5ms, count=1, min=366.5ms, max=366.5ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=373.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.7us, 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] +05/10 22:28:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:28:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:28:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:28:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:28:45 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] +05/10 22:28:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:28:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066981m [env.py: 870] +05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:28:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92669531 0.49967366 0.0669812 ] yaw=-173.4deg [env.py: 1019] +05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88072255 1.13810888 0.0669812 ] yaw=-141.3deg [env.py: 1019] +05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65752035 0.79630449 0.0669812 ] yaw=-171.4deg [env.py: 1019] +05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:28:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.0ms, total=115.0ms [env.py: 1075] +05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.500, 0.067) [env.py: 1079] +05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.4 deg [env.py: 1082] +05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m [env.py: 1086] +05/10 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:28:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:28:45 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/10 22:28:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/10 22:28:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:28:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:28:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:28:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.442s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:28:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.371[m] 96.882[deg] [grasp_sample.py: 539] +05/10 22:28:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:28:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:28:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:29:15 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:29:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:29:23 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:29:29 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:29:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:29:36 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:29:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/10 22:29:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:29:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:29:45 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:29:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/10 22:29:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:29:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:29:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:29:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.97s (batch: 3.90s, save: 8.07s) [pipeline.py: 300] +05/10 22:29:49 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.35s: + episode_total: mean=186.14s, total=186.14s, count=1, min=186138.7ms, max=186138.7ms + sensor_polling: mean=466.3ms, total=139.89s, count=300, min=404.9ms, max=739.4ms + save_trajectories: mean=8.07s, total=8.07s, count=1, min=8073.2ms, max=8073.2ms + physics_step: mean=21.4ms, total=6.43s, count=300, min=13.6ms, max=56.7ms + save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3901.1ms, max=3901.1ms + task_sampling: mean=347.3ms, total=347.3ms, count=1, min=347.3ms, max=347.3ms + task_specific_sample: mean=344.0ms, total=344.0ms, count=1, min=344.0ms, max=344.0ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=367.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.7us, 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] +05/10 22:29:50 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:29:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/10 22:29:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:29:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:29:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:29:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:29:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:29:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:29:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:29:50 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] +05/10 22:29:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:29:50 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] +05/10 22:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003126m [env.py: 870] +05/10 22:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:29:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.7144439 0.32578562 0.00312574] yaw=175.6deg [env.py: 1019] +05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97511703 0.67801065 0.00312574] yaw=-168.7deg [env.py: 1019] +05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:29:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=152.3ms, total=152.3ms [env.py: 1075] +05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.326, 0.003) [env.py: 1079] +05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.6 deg [env.py: 1082] +05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/10 22:29:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:29:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:29:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:29:51 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/10 22:29:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/10 22:29:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:29:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:29:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:29:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.480s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:29:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.551[m] 92.991[deg] [grasp_sample.py: 539] +05/10 22:29:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:29:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:29:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:29:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:29:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:29:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.65s (batch: 4.06s, save: 7.59s) [pipeline.py: 300] +05/10 22:29:58 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.86s: + episode_total: mean=162.52s, total=325.04s, count=2, min=141600.5ms, max=183441.8ms + sensor_polling: mean=459.2ms, total=255.77s, count=557, min=384.1ms, max=855.4ms + physics_step: mean=22.0ms, total=12.27s, count=557, min=14.0ms, max=82.7ms + save_trajectories: mean=7.59s, total=7.59s, count=1, min=7586.3ms, max=7586.3ms + save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4059.4ms, max=4059.4ms + task_sampling: mean=427.8ms, total=855.6ms, count=2, min=406.3ms, max=449.2ms + task_specific_sample: mean=424.3ms, total=848.6ms, count=2, min=403.5ms, max=445.1ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.2ms, max=2.7ms + mj_forward_sync: mean=403.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=17.4us, 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] +05/10 22:29:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:29:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:29:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:29:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:29:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:29:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:29:59 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] +05/10 22:29:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:29:59 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] +05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072703m [env.py: 870] +05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:29:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91947962 0.37651981 0.07270264] yaw=178.6deg [env.py: 1019] +05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86224067 0.22135202 0.07270264] yaw=173.7deg [env.py: 1019] +05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08929711 0.98712135 0.07270264] yaw=-138.6deg [env.py: 1019] +05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:29:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.0ms, total=69.1ms [env.py: 1075] +05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.377, 0.073) [env.py: 1079] +05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.6 deg [env.py: 1082] +05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.790m [env.py: 1086] +05/10 22:29:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:29:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:30:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:30:00 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/10 22:30:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/10 22:30:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:30:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:30:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:30:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.472s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:30:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.348[m] 82.097[deg] [grasp_sample.py: 539] +05/10 22:30:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:30:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:30:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:30:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:30:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:30:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 10.96s (batch: 3.59s, save: 7.37s) [pipeline.py: 300] +05/10 22:30:02 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.75s: + episode_total: mean=93.72s, total=187.44s, count=2, min=3154.1ms, max=184283.0ms + sensor_polling: mean=464.5ms, total=139.36s, count=300, min=390.2ms, max=939.9ms + save_trajectories: mean=7.37s, total=7.37s, count=1, min=7368.9ms, max=7368.9ms + physics_step: mean=23.3ms, total=6.99s, count=300, min=16.9ms, max=129.9ms + save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3592.6ms, max=3592.6ms + task_sampling: mean=375.1ms, total=750.2ms, count=2, min=325.7ms, max=424.5ms + task_specific_sample: mean=372.2ms, total=744.3ms, count=2, min=323.0ms, max=421.3ms + scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.1ms, max=1.9ms + mj_forward_sync: mean=383.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.2us, 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] +05/10 22:30:03 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/10 22:30:03 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/10 22:30:03 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes [pipeline.py: 1323] +05/10 22:30:03 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5651.59s + House averages: + episode_total: mean=172.58s, total=3106.35s, count=18, min=2851.2ms, max=235448.3ms + sensor_polling: mean=500.0ms, total=2216.40s, count=4433, min=390.2ms, max=1207.3ms + save_trajectories: mean=9.08s, total=127.12s, count=14, min=7368.9ms, max=12549.3ms + physics_step: mean=25.1ms, total=111.10s, count=4433, min=12.8ms, max=132.8ms + save_batch_prep: mean=4.32s, total=60.41s, count=14, min=3592.6ms, max=5581.0ms + task_sampling: mean=709.1ms, total=12.76s, count=18, min=325.7ms, max=4308.0ms + task_specific_sample: mean=505.2ms, total=9.09s, count=18, min=323.0ms, max=924.8ms + scene_load: mean=3.60s, total=3.60s, count=1, min=3602.5ms, max=3602.5ms + scene_env_create: mean=2.36s, total=2.36s, count=1, min=2360.2ms, max=2360.2ms + scene_compile: mean=980.2ms, total=980.2ms, count=1, min=980.2ms, max=980.2ms + compile_mujoco: mean=734.7ms, total=734.7ms, count=1, min=734.7ms, max=734.7ms + scene_init: mean=201.3ms, total=201.3ms, count=1, min=201.3ms, max=201.3ms + compile_xml_load: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms + compile_aux_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms + compile_aux_policy_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms + scene_asset_install: mean=60.4ms, total=60.4ms, count=1, min=60.4ms, max=60.4ms + asset_install_grasps: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms + scene_randomize: mean=2.1ms, total=38.7ms, count=18, min=1.1ms, max=2.8ms + asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms + mj_forward_sync: mean=649.4us, total=11.7ms, count=18, min=0.4ms, max=4.3ms + compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms + policy_setup: mean=22.0us, 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] +05/10 22:30:03 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/10 22:30:03 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5651.59s + Worker averages: + episode_total: mean=172.58s, total=3106.35s, count=18, min=2851.2ms, max=235448.3ms + sensor_polling: mean=500.0ms, total=2216.40s, count=4433, min=390.2ms, max=1207.3ms + save_trajectories: mean=9.08s, total=127.12s, count=14, min=7368.9ms, max=12549.3ms + physics_step: mean=25.1ms, total=111.10s, count=4433, min=12.8ms, max=132.8ms + save_batch_prep: mean=4.32s, total=60.41s, count=14, min=3592.6ms, max=5581.0ms + task_sampling: mean=709.1ms, total=12.76s, count=18, min=325.7ms, max=4308.0ms + task_specific_sample: mean=505.2ms, total=9.09s, count=18, min=323.0ms, max=924.8ms + scene_load: mean=3.60s, total=3.60s, count=1, min=3602.5ms, max=3602.5ms + scene_env_create: mean=2.36s, total=2.36s, count=1, min=2360.2ms, max=2360.2ms + scene_compile: mean=980.2ms, total=980.2ms, count=1, min=980.2ms, max=980.2ms + compile_mujoco: mean=734.7ms, total=734.7ms, count=1, min=734.7ms, max=734.7ms + scene_init: mean=201.3ms, total=201.3ms, count=1, min=201.3ms, max=201.3ms + compile_xml_load: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms + compile_aux_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms + compile_aux_policy_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms + scene_asset_install: mean=60.4ms, total=60.4ms, count=1, min=60.4ms, max=60.4ms + asset_install_grasps: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms + scene_randomize: mean=2.1ms, total=38.7ms, count=18, min=1.1ms, max=2.8ms + asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms + mj_forward_sync: mean=649.4us, total=11.7ms, count=18, min=0.4ms, max=4.3ms + compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms + policy_setup: mean=22.0us, 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] +05/10 22:30:06 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/10 22:30:06 INFO: Success count: 14, Total count: 14 [pipeline.py: 1491] +05/10 22:30:06 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/10 22:30:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:30:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:30:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:30:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:30:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:30:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:30:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:30:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:30:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:30:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:30:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:30:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:30:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/10 22:30:25 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.444s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:30:25 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.460[deg] [grasp_sample.py: 539] +05/10 22:30:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:30:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:30:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:30:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:30:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:30:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:30:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:30:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:30:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:30:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:30:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:30:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:31:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:25 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:31:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:31:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:31:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:31:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:31:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/10 22:31:31 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.978s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:31:31 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.578[deg] [grasp_sample.py: 539] +05/10 22:31:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:31:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:31:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:31:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:31:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:31:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:31:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:31:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/10 22:31:47 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.457s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:31:47 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.101[m] 0.590[deg] [grasp_sample.py: 539] +05/10 22:31:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:31:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:31:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:31:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:50 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:31:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/10 22:31:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:31:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:31:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:31:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:31:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:31:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:31:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/10 22:31:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.435s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:31:59 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.101[m] 0.590[deg] [grasp_sample.py: 539] +05/10 22:31:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:31:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:31:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:32:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:32:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:32:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:32:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.67s (batch: 3.88s, save: 7.80s) [pipeline.py: 300] +05/10 22:32:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:32:02 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.40s: + episode_total: mean=197.78s, total=197.78s, count=1, min=197785.0ms, max=197785.0ms + sensor_polling: mean=452.9ms, total=135.87s, count=300, min=374.8ms, max=750.6ms + save_trajectories: mean=7.80s, total=7.80s, count=1, min=7795.6ms, max=7795.6ms + physics_step: mean=20.5ms, total=6.15s, count=300, min=13.7ms, max=56.4ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3876.8ms, max=3876.8ms + task_sampling: mean=396.6ms, total=396.6ms, count=1, min=396.6ms, max=396.6ms + task_specific_sample: mean=393.3ms, total=393.3ms, count=1, min=393.3ms, max=393.3ms + scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + mj_forward_sync: mean=380.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.9us, 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] +05/10 22:32:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:32:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:32:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:32:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:32:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:32:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:32:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:32:04 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] +05/10 22:32:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:32:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037057m [env.py: 870] +05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:32:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85190594 1.06147953 0.03705665] yaw=-157.0deg [env.py: 1019] +05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82952976 0.38427707 0.03705665] yaw=179.6deg [env.py: 1019] +05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76802732 0.35201408 0.03705665] yaw=174.9deg [env.py: 1019] +05/10 22:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:32:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=357.4ms, total=357.4ms [env.py: 1075] +05/10 22:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.852, 1.061, 0.037) [env.py: 1079] +05/10 22:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.0 deg [env.py: 1082] +05/10 22:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/10 22:32:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:32:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:32:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:32:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:32:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:32:05 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/10 22:32:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s [base_object_manipulation_planner_policy.py: 377] +05/10 22:32:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:32:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:32:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:32:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:32:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.259s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:32:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.645[m] 93.637[deg] [grasp_sample.py: 539] +05/10 22:32:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:32:11 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/10 22:32:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:32:12 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/10 22:32:12 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/10 22:32:12 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes [pipeline.py: 1323] +05/10 22:32:12 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5905.38s + House averages: + episode_total: mean=179.64s, total=3233.56s, count=18, min=6614.6ms, max=243262.4ms + sensor_polling: mean=497.6ms, total=2360.39s, count=4744, min=374.8ms, max=1162.5ms + save_trajectories: mean=8.71s, total=113.21s, count=13, min=7243.0ms, max=11069.9ms + physics_step: mean=23.6ms, total=112.02s, count=4744, min=13.7ms, max=98.2ms + save_batch_prep: mean=4.38s, total=56.99s, count=13, min=3876.8ms, max=5731.7ms + task_sampling: mean=694.0ms, total=12.49s, count=18, min=331.9ms, max=3508.2ms + task_specific_sample: mean=524.8ms, total=9.45s, count=18, min=328.4ms, max=761.4ms + scene_load: mean=2.97s, total=2.97s, count=1, min=2973.9ms, max=2973.9ms + scene_env_create: mean=1.65s, total=1.65s, count=1, min=1649.9ms, max=1649.9ms + scene_compile: mean=1.11s, total=1.11s, count=1, min=1105.0ms, max=1105.0ms + compile_mujoco: mean=737.3ms, total=737.3ms, count=1, min=737.3ms, max=737.3ms + compile_xml_load: mean=275.6ms, total=275.6ms, count=1, min=275.6ms, max=275.6ms + scene_init: mean=129.9ms, total=129.9ms, count=1, min=129.9ms, max=129.9ms + scene_asset_install: mean=88.8ms, total=88.8ms, count=1, min=88.8ms, max=88.8ms + compile_aux_objects: mean=74.0ms, total=74.0ms, count=1, min=74.0ms, max=74.0ms + compile_aux_policy_objects: mean=73.9ms, total=73.9ms, count=1, min=73.9ms, max=73.9ms + asset_install_grasps: mean=67.7ms, total=67.7ms, count=1, min=67.7ms, max=67.7ms + scene_randomize: mean=2.4ms, total=44.0ms, count=18, min=1.2ms, max=3.6ms + asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms + compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms + mj_forward_sync: mean=515.7us, total=9.3ms, count=18, min=0.4ms, max=0.9ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=20.0us, 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] +05/10 22:32:13 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/10 22:32:13 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5905.38s + Worker averages: + episode_total: mean=179.64s, total=3233.56s, count=18, min=6614.6ms, max=243262.4ms + sensor_polling: mean=497.6ms, total=2360.39s, count=4744, min=374.8ms, max=1162.5ms + save_trajectories: mean=8.71s, total=113.21s, count=13, min=7243.0ms, max=11069.9ms + physics_step: mean=23.6ms, total=112.02s, count=4744, min=13.7ms, max=98.2ms + save_batch_prep: mean=4.38s, total=56.99s, count=13, min=3876.8ms, max=5731.7ms + task_sampling: mean=694.0ms, total=12.49s, count=18, min=331.9ms, max=3508.2ms + task_specific_sample: mean=524.8ms, total=9.45s, count=18, min=328.4ms, max=761.4ms + scene_load: mean=2.97s, total=2.97s, count=1, min=2973.9ms, max=2973.9ms + scene_env_create: mean=1.65s, total=1.65s, count=1, min=1649.9ms, max=1649.9ms + scene_compile: mean=1.11s, total=1.11s, count=1, min=1105.0ms, max=1105.0ms + compile_mujoco: mean=737.3ms, total=737.3ms, count=1, min=737.3ms, max=737.3ms + compile_xml_load: mean=275.6ms, total=275.6ms, count=1, min=275.6ms, max=275.6ms + scene_init: mean=129.9ms, total=129.9ms, count=1, min=129.9ms, max=129.9ms + scene_asset_install: mean=88.8ms, total=88.8ms, count=1, min=88.8ms, max=88.8ms + compile_aux_objects: mean=74.0ms, total=74.0ms, count=1, min=74.0ms, max=74.0ms + compile_aux_policy_objects: mean=73.9ms, total=73.9ms, count=1, min=73.9ms, max=73.9ms + asset_install_grasps: mean=67.7ms, total=67.7ms, count=1, min=67.7ms, max=67.7ms + scene_randomize: mean=2.4ms, total=44.0ms, count=18, min=1.2ms, max=3.6ms + asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms + compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms + mj_forward_sync: mean=515.7us, total=9.3ms, count=18, min=0.4ms, max=0.9ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=20.0us, 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] +05/10 22:32:14 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:32:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:32:15 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/10 22:32:15 INFO: Success count: 13, Total count: 13 [pipeline.py: 1491] +05/10 22:32:15 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/10 22:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:32:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:32:16 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/10 22:32:16 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/10 22:32:16 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=0.36s: + episode_total: mean=136.73s, total=136.73s, count=1, min=136727.7ms, max=136727.7ms + sensor_polling: mean=446.7ms, total=88.89s, count=199, min=397.7ms, max=689.5ms + physics_step: mean=19.4ms, total=3.86s, count=199, min=12.0ms, max=45.1ms + task_sampling: mean=363.2ms, total=363.2ms, count=1, min=363.2ms, max=363.2ms + task_specific_sample: mean=359.7ms, total=359.7ms, count=1, min=359.7ms, max=359.7ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=386.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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] +05/10 22:32:18 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/10 22:32:18 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/10 22:32:18 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes [pipeline.py: 1323] +05/10 22:32:18 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5951.41s + House averages: + episode_total: mean=180.02s, total=3240.35s, count=18, min=5704.2ms, max=239904.3ms + sensor_polling: mean=495.1ms, total=2398.62s, count=4845, min=384.1ms, max=1253.3ms + physics_step: mean=23.6ms, total=114.26s, count=4845, min=12.0ms, max=101.6ms + save_trajectories: mean=9.23s, total=110.70s, count=12, min=7576.6ms, max=11818.2ms + save_batch_prep: mean=4.46s, total=53.51s, count=12, min=4026.4ms, max=5570.9ms + task_sampling: mean=787.1ms, total=14.17s, count=18, min=363.2ms, max=4874.2ms + task_specific_sample: mean=556.0ms, total=10.01s, count=18, min=359.7ms, max=1086.7ms + scene_load: mean=4.09s, total=4.09s, count=1, min=4089.0ms, max=4089.0ms + scene_env_create: mean=2.48s, total=2.48s, count=1, min=2478.2ms, max=2478.2ms + scene_compile: mean=1.49s, total=1.49s, count=1, min=1485.5ms, max=1485.5ms + compile_mujoco: mean=878.9ms, total=878.9ms, count=1, min=878.9ms, max=878.9ms + compile_xml_load: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms + scene_init: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms + scene_asset_install: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms + scene_randomize: mean=2.4ms, total=42.7ms, count=18, min=1.2ms, max=3.9ms + compile_aux_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms + compile_aux_policy_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms + asset_install_grasps: mean=36.9ms, total=36.9ms, count=1, min=36.9ms, max=36.9ms + asset_install_objects: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms + compile_robot_add: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms + mj_forward_sync: mean=463.7us, total=8.3ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + policy_setup: mean=22.8us, 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] +05/10 22:32:18 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/10 22:32:18 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5951.41s + Worker averages: + episode_total: mean=180.02s, total=3240.35s, count=18, min=5704.2ms, max=239904.3ms + sensor_polling: mean=495.1ms, total=2398.62s, count=4845, min=384.1ms, max=1253.3ms + physics_step: mean=23.6ms, total=114.26s, count=4845, min=12.0ms, max=101.6ms + save_trajectories: mean=9.23s, total=110.70s, count=12, min=7576.6ms, max=11818.2ms + save_batch_prep: mean=4.46s, total=53.51s, count=12, min=4026.4ms, max=5570.9ms + task_sampling: mean=787.1ms, total=14.17s, count=18, min=363.2ms, max=4874.2ms + task_specific_sample: mean=556.0ms, total=10.01s, count=18, min=359.7ms, max=1086.7ms + scene_load: mean=4.09s, total=4.09s, count=1, min=4089.0ms, max=4089.0ms + scene_env_create: mean=2.48s, total=2.48s, count=1, min=2478.2ms, max=2478.2ms + scene_compile: mean=1.49s, total=1.49s, count=1, min=1485.5ms, max=1485.5ms + compile_mujoco: mean=878.9ms, total=878.9ms, count=1, min=878.9ms, max=878.9ms + compile_xml_load: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms + scene_init: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms + scene_asset_install: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms + scene_randomize: mean=2.4ms, total=42.7ms, count=18, min=1.2ms, max=3.9ms + compile_aux_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms + compile_aux_policy_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms + asset_install_grasps: mean=36.9ms, total=36.9ms, count=1, min=36.9ms, max=36.9ms + asset_install_objects: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms + compile_robot_add: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms + mj_forward_sync: mean=463.7us, total=8.3ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + policy_setup: mean=22.8us, 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] +05/10 22:32:20 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/10 22:32:20 INFO: Success count: 12, Total count: 13 [pipeline.py: 1491] +05/10 22:32:20 INFO: Success rate: 92.31% [pipeline.py: 1492] +05/10 22:32:33 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:32:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/10 22:32:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:32:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:32:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:32:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.00s (batch: 3.68s, save: 8.32s) [pipeline.py: 300] +05/10 22:32:46 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.41s: + episode_total: mean=175.22s, total=175.22s, count=1, min=175218.4ms, max=175218.4ms + sensor_polling: mean=441.4ms, total=132.43s, count=300, min=363.9ms, max=717.1ms + save_trajectories: mean=8.32s, total=8.32s, count=1, min=8315.2ms, max=8315.2ms + physics_step: mean=21.6ms, total=6.49s, count=300, min=13.8ms, max=52.4ms + save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3680.6ms, max=3680.6ms + task_sampling: mean=408.0ms, total=408.0ms, count=1, min=408.0ms, max=408.0ms + task_specific_sample: mean=404.6ms, total=404.6ms, count=1, min=404.6ms, max=404.6ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=376.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.8us, 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] +05/10 22:32:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:32:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:32:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:32:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:32:47 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] +05/10 22:32:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:32:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037582m [env.py: 870] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:32:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87416368 0.65693251 0.03758154] yaw=-174.7deg [env.py: 1019] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91866886 0.24454192 0.03758154] yaw=159.0deg [env.py: 1019] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10350493 0.99059939 0.03758154] yaw=-129.8deg [env.py: 1019] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:32:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.9ms, total=112.9ms [env.py: 1075] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.874, 0.657, 0.038) [env.py: 1079] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg [env.py: 1082] +05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m [env.py: 1086] +05/10 22:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:32:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:32:47 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/10 22:32:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/10 22:32:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:32:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:32:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:32:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.476s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:32:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.407[m] 87.252[deg] [grasp_sample.py: 539] +05/10 22:32:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:32:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:32:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:33:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:33:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:33:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:34:55 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:35:18 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:35:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/10 22:35:18 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:35:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:35:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:35:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.21s (batch: 3.38s, save: 7.83s) [pipeline.py: 300] +05/10 22:35:30 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.36s: + episode_total: mean=163.16s, total=163.16s, count=1, min=163163.2ms, max=163163.2ms + sensor_polling: mean=396.9ms, total=119.07s, count=300, min=361.5ms, max=576.0ms + save_trajectories: mean=7.83s, total=7.83s, count=1, min=7826.7ms, max=7826.7ms + physics_step: mean=19.2ms, total=5.75s, count=300, min=13.5ms, max=49.1ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3381.9ms, max=3381.9ms + task_sampling: mean=359.8ms, total=359.8ms, count=1, min=359.8ms, max=359.8ms + task_specific_sample: mean=356.4ms, total=356.4ms, count=1, min=356.4ms, max=356.4ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=379.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.6us, 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] +05/10 22:35:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:35:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:35:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:35:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:35:31 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] +05/10 22:35:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:35:31 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] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063389m [env.py: 870] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:35:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84072344 0.26488108 0.06338932] yaw=158.4deg [env.py: 1019] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86796254 0.36713108 0.06338932] yaw=182.4deg [env.py: 1019] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75110181 0.28180705 0.06338932] yaw=164.1deg [env.py: 1019] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:35:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.6ms, total=170.6ms [env.py: 1075] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.265, 0.063) [env.py: 1079] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.4 deg [env.py: 1082] +05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/10 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:35:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:35:32 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/10 22:35:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/10 22:35:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:35:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:35:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:35:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.842s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:35:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.446[m] 93.772[deg] [grasp_sample.py: 539] +05/10 22:35:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:35:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:35:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:36:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:36:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:36:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:37:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:37:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:37:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:37:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:37:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:37:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:37:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:37:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:37:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:37:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:37:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:37:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:37:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/10 22:37:19 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.367s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:37:19 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.776[deg] [grasp_sample.py: 539] +05/10 22:37:20 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/10 22:37:22 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/10 22:37:22 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/10 22:37:22 INFO: [Worker 0] Worker 0 completed house 1: 17/17 successful episodes [pipeline.py: 1323] +05/10 22:37:22 INFO: [Worker 0] [PROFILE] House 1 complete: 17/17 successful, 17 episodes, total_time=6494.81s + House averages: + episode_total: mean=197.01s, total=3546.12s, count=18, min=109145.5ms, max=245377.0ms + sensor_polling: mean=483.8ms, total=2563.43s, count=5298, min=361.5ms, max=1169.7ms + save_trajectories: mean=9.36s, total=159.15s, count=17, min=7812.4ms, max=13244.3ms + physics_step: mean=22.7ms, total=120.51s, count=5298, min=11.5ms, max=117.9ms + save_batch_prep: mean=4.29s, total=72.87s, count=17, min=3381.9ms, max=5197.7ms + task_sampling: mean=762.4ms, total=13.72s, count=18, min=347.3ms, max=4624.7ms + task_specific_sample: mean=536.8ms, total=9.66s, count=18, min=344.0ms, max=1206.0ms + scene_load: mean=3.98s, total=3.98s, count=1, min=3984.0ms, max=3984.0ms + scene_env_create: mean=2.50s, total=2.50s, count=1, min=2499.2ms, max=2499.2ms + scene_compile: mean=1.24s, total=1.24s, count=1, min=1238.1ms, max=1238.1ms + compile_mujoco: mean=979.4ms, total=979.4ms, count=1, min=979.4ms, max=979.4ms + scene_init: mean=203.5ms, total=203.5ms, count=1, min=203.5ms, max=203.5ms + compile_xml_load: mean=190.2ms, total=190.2ms, count=1, min=190.2ms, max=190.2ms + scene_randomize: mean=2.6ms, total=47.2ms, count=18, min=2.1ms, max=3.6ms + scene_asset_install: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms + compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms + compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms + asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms + compile_robot_add: mean=16.8ms, total=16.8ms, count=1, min=16.8ms, max=16.8ms + mj_forward_sync: mean=671.2us, total=12.1ms, count=18, min=0.4ms, max=4.2ms + asset_install_objects: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=22.0us, 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] +05/10 22:37:22 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/10 22:37:22 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 17 episodes, total_time=6494.81s + Worker averages: + episode_total: mean=197.01s, total=3546.12s, count=18, min=109145.5ms, max=245377.0ms + sensor_polling: mean=483.8ms, total=2563.43s, count=5298, min=361.5ms, max=1169.7ms + save_trajectories: mean=9.36s, total=159.15s, count=17, min=7812.4ms, max=13244.3ms + physics_step: mean=22.7ms, total=120.51s, count=5298, min=11.5ms, max=117.9ms + save_batch_prep: mean=4.29s, total=72.87s, count=17, min=3381.9ms, max=5197.7ms + task_sampling: mean=762.4ms, total=13.72s, count=18, min=347.3ms, max=4624.7ms + task_specific_sample: mean=536.8ms, total=9.66s, count=18, min=344.0ms, max=1206.0ms + scene_load: mean=3.98s, total=3.98s, count=1, min=3984.0ms, max=3984.0ms + scene_env_create: mean=2.50s, total=2.50s, count=1, min=2499.2ms, max=2499.2ms + scene_compile: mean=1.24s, total=1.24s, count=1, min=1238.1ms, max=1238.1ms + compile_mujoco: mean=979.4ms, total=979.4ms, count=1, min=979.4ms, max=979.4ms + scene_init: mean=203.5ms, total=203.5ms, count=1, min=203.5ms, max=203.5ms + compile_xml_load: mean=190.2ms, total=190.2ms, count=1, min=190.2ms, max=190.2ms + scene_randomize: mean=2.6ms, total=47.2ms, count=18, min=2.1ms, max=3.6ms + scene_asset_install: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms + compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms + compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms + asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms + compile_robot_add: mean=16.8ms, total=16.8ms, count=1, min=16.8ms, max=16.8ms + mj_forward_sync: mean=671.2us, total=12.1ms, count=18, min=0.4ms, max=4.2ms + asset_install_objects: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=22.0us, 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] +05/10 22:37:24 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/10 22:37:24 INFO: Success count: 17, Total count: 17 [pipeline.py: 1491] +05/10 22:37:24 INFO: Success rate: 100.00% [pipeline.py: 1492] diff --git a/fridge_7/chunk_009/shard_1_of_4.log b/fridge_7/chunk_009/shard_1_of_4.log index d1f93db34cf5c83090f7de2a3bbf33ecfcf3207b..bbcfce0002056b4d12545826a023cbe86a6d8c72 100644 --- a/fridge_7/chunk_009/shard_1_of_4.log +++ b/fridge_7/chunk_009/shard_1_of_4.log @@ -1544,3 +1544,312 @@ ValueError: IK failed for pregrasp pose [05/10 22:22:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... [05/10 22:22:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:23:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:23:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:23:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:24:56 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True +[05/10 22:25:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:25:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes +[05/10 22:25:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:25:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:25:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:25:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.85s (batch: 4.19s, save: 7.66s) +[05/10 22:25:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.85s: + episode_total: mean=146.96s, total=293.93s, count=2, min=110581.8ms, max=183345.7ms + sensor_polling: mean=464.9ms, total=220.82s, count=475, min=392.7ms, max=820.5ms + physics_step: mean=21.7ms, total=10.30s, count=475, min=16.6ms, max=58.2ms + save_trajectories: mean=7.66s, total=7.66s, count=1, min=7657.8ms, max=7657.8ms + save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4188.8ms, max=4188.8ms + task_sampling: mean=423.5ms, total=847.0ms, count=2, min=411.4ms, max=435.6ms + task_specific_sample: mean=419.9ms, total=839.9ms, count=2, min=408.1ms, max=431.8ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.7ms, max=2.2ms + mj_forward_sync: mean=479.2us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=18.2us, 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 +[05/10 22:25:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:25:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:25:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:25:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:25:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:25:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:25:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:25:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:25:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:25:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:25:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) +[05/10 22:25:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:25:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:25:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056537m +[05/10 22:25:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:25:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:25:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:25:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:25:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90325356 0.63092802 0.05653677] yaw=-180.4deg +[05/10 22:25:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:25:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88350806 1.0012928 0.05653677] yaw=-147.5deg +[05/10 22:25:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:25:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98740937 0.11481577 0.05653677] yaw=152.4deg +[05/10 22:25:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:25:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:25:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.4ms, total=120.4ms +[05/10 22:25:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.903, 0.631, 0.057) +[05/10 22:25:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.4 deg +[05/10 22:25:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.813m +[05/10 22:25:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:25:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:25:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:25:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:25:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:25:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3 +[05/10 22:25:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s +[05/10 22:25:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:25:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:25:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:25:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.413s, found feasible grasp: True +[05/10 22:25:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.389[m] 92.246[deg] +[05/10 22:25:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:25:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:25:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:26:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:26:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:26:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:28:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True +[05/10 22:28:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:28:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes +[05/10 22:28:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps +[05/10 22:28:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:28:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:28:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.10s (batch: 4.01s, save: 8.09s) +[05/10 22:28:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.37s: + episode_total: mean=188.20s, total=188.20s, count=1, min=188203.3ms, max=188203.3ms + sensor_polling: mean=455.9ms, total=136.33s, count=299, min=393.1ms, max=887.2ms + save_trajectories: mean=8.09s, total=8.09s, count=1, min=8094.4ms, max=8094.4ms + physics_step: mean=22.4ms, total=6.71s, count=299, min=15.8ms, max=47.6ms + save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4007.0ms, max=4007.0ms + task_sampling: mean=369.9ms, total=369.9ms, count=1, min=369.9ms, max=369.9ms + task_specific_sample: mean=366.5ms, total=366.5ms, count=1, min=366.5ms, max=366.5ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=373.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.7us, 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 +[05/10 22:28:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:28:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:28:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:28:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:28:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:28:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:28:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:28:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:28:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:28:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:28:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m) +[05/10 22:28:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:28:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:28:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066981m +[05/10 22:28:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:28:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:28:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:28:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92669531 0.49967366 0.0669812 ] yaw=-173.4deg +[05/10 22:28:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:28:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88072255 1.13810888 0.0669812 ] yaw=-141.3deg +[05/10 22:28:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:28:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:28:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65752035 0.79630449 0.0669812 ] yaw=-171.4deg +[05/10 22:28:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:28:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:28:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.0ms, total=115.0ms +[05/10 22:28:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.500, 0.067) +[05/10 22:28:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.4 deg +[05/10 22:28:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.776m +[05/10 22:28:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:28:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:28:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:28:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:28:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:28:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3 +[05/10 22:28:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s +[05/10 22:28:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:28:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:28:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps +[05/10 22:28:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.442s, found feasible grasp: True +[05/10 22:28:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.371[m] 96.882[deg] +[05/10 22:28:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:28:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:28:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:29:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:29:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:29:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:30:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:30:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:30:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:30:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:30:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:30:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:30:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:30:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:30:24 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:30:24 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/10 22:30:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:30:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:30:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps +[05/10 22:30:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.444s, found feasible grasp: True +[05/10 22:30:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.460[deg] +[05/10 22:30:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:30:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:30:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:30:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:30:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:30:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:31:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True +[05/10 22:31:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:31:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes +[05/10 22:31:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:32:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:32:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:32:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.67s (batch: 3.88s, save: 7.80s) +[05/10 22:32:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.40s: + episode_total: mean=197.78s, total=197.78s, count=1, min=197785.0ms, max=197785.0ms + sensor_polling: mean=452.9ms, total=135.87s, count=300, min=374.8ms, max=750.6ms + save_trajectories: mean=7.80s, total=7.80s, count=1, min=7795.6ms, max=7795.6ms + physics_step: mean=20.5ms, total=6.15s, count=300, min=13.7ms, max=56.4ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3876.8ms, max=3876.8ms + task_sampling: mean=396.6ms, total=396.6ms, count=1, min=396.6ms, max=396.6ms + task_specific_sample: mean=393.3ms, total=393.3ms, count=1, min=393.3ms, max=393.3ms + scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + mj_forward_sync: mean=380.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.9us, 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 +[05/10 22:32:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:32:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:32:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:32:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:32:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:32:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:32:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:32:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:32:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:32:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:32:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m) +[05/10 22:32:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:32:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:32:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037057m +[05/10 22:32:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:32:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:32:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:32:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85190594 1.06147953 0.03705665] yaw=-157.0deg +[05/10 22:32:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:32:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:32:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:32:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:32:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:32:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82952976 0.38427707 0.03705665] yaw=179.6deg +[05/10 22:32:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:32:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76802732 0.35201408 0.03705665] yaw=174.9deg +[05/10 22:32:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:32:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:32:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=357.4ms, total=357.4ms +[05/10 22:32:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.852, 1.061, 0.037) +[05/10 22:32:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.0 deg +[05/10 22:32:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.029m +[05/10 22:32:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:32:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:32:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:32:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:32:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:32:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3 +[05/10 22:32:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.136s +[05/10 22:32:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:32:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:32:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps +[05/10 22:32:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.259s, found feasible grasp: True +[05/10 22:32:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.645[m] 93.637[deg] +[05/10 22:32:11 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/10 22:32:12 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_009 +[05/10 22:32:12 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_009 +[05/10 22:32:12 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/13 successful episodes +[05/10 22:32:12 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5905.38s + House averages: + episode_total: mean=179.64s, total=3233.56s, count=18, min=6614.6ms, max=243262.4ms + sensor_polling: mean=497.6ms, total=2360.39s, count=4744, min=374.8ms, max=1162.5ms + save_trajectories: mean=8.71s, total=113.21s, count=13, min=7243.0ms, max=11069.9ms + physics_step: mean=23.6ms, total=112.02s, count=4744, min=13.7ms, max=98.2ms + save_batch_prep: mean=4.38s, total=56.99s, count=13, min=3876.8ms, max=5731.7ms + task_sampling: mean=694.0ms, total=12.49s, count=18, min=331.9ms, max=3508.2ms + task_specific_sample: mean=524.8ms, total=9.45s, count=18, min=328.4ms, max=761.4ms + scene_load: mean=2.97s, total=2.97s, count=1, min=2973.9ms, max=2973.9ms + scene_env_create: mean=1.65s, total=1.65s, count=1, min=1649.9ms, max=1649.9ms + scene_compile: mean=1.11s, total=1.11s, count=1, min=1105.0ms, max=1105.0ms + compile_mujoco: mean=737.3ms, total=737.3ms, count=1, min=737.3ms, max=737.3ms + compile_xml_load: mean=275.6ms, total=275.6ms, count=1, min=275.6ms, max=275.6ms + scene_init: mean=129.9ms, total=129.9ms, count=1, min=129.9ms, max=129.9ms + scene_asset_install: mean=88.8ms, total=88.8ms, count=1, min=88.8ms, max=88.8ms + compile_aux_objects: mean=74.0ms, total=74.0ms, count=1, min=74.0ms, max=74.0ms + compile_aux_policy_objects: mean=73.9ms, total=73.9ms, count=1, min=73.9ms, max=73.9ms + asset_install_grasps: mean=67.7ms, total=67.7ms, count=1, min=67.7ms, max=67.7ms + scene_randomize: mean=2.4ms, total=44.0ms, count=18, min=1.2ms, max=3.6ms + asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms + compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms + mj_forward_sync: mean=515.7us, total=9.3ms, count=18, min=0.4ms, max=0.9ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=20.0us, 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 +[05/10 22:32:13 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses +[05/10 22:32:13 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5905.38s + Worker averages: + episode_total: mean=179.64s, total=3233.56s, count=18, min=6614.6ms, max=243262.4ms + sensor_polling: mean=497.6ms, total=2360.39s, count=4744, min=374.8ms, max=1162.5ms + save_trajectories: mean=8.71s, total=113.21s, count=13, min=7243.0ms, max=11069.9ms + physics_step: mean=23.6ms, total=112.02s, count=4744, min=13.7ms, max=98.2ms + save_batch_prep: mean=4.38s, total=56.99s, count=13, min=3876.8ms, max=5731.7ms + task_sampling: mean=694.0ms, total=12.49s, count=18, min=331.9ms, max=3508.2ms + task_specific_sample: mean=524.8ms, total=9.45s, count=18, min=328.4ms, max=761.4ms + scene_load: mean=2.97s, total=2.97s, count=1, min=2973.9ms, max=2973.9ms + scene_env_create: mean=1.65s, total=1.65s, count=1, min=1649.9ms, max=1649.9ms + scene_compile: mean=1.11s, total=1.11s, count=1, min=1105.0ms, max=1105.0ms + compile_mujoco: mean=737.3ms, total=737.3ms, count=1, min=737.3ms, max=737.3ms + compile_xml_load: mean=275.6ms, total=275.6ms, count=1, min=275.6ms, max=275.6ms + scene_init: mean=129.9ms, total=129.9ms, count=1, min=129.9ms, max=129.9ms + scene_asset_install: mean=88.8ms, total=88.8ms, count=1, min=88.8ms, max=88.8ms + compile_aux_objects: mean=74.0ms, total=74.0ms, count=1, min=74.0ms, max=74.0ms + compile_aux_policy_objects: mean=73.9ms, total=73.9ms, count=1, min=73.9ms, max=73.9ms + asset_install_grasps: mean=67.7ms, total=67.7ms, count=1, min=67.7ms, max=67.7ms + scene_randomize: mean=2.4ms, total=44.0ms, count=18, min=1.2ms, max=3.6ms + asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms + compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms + mj_forward_sync: mean=515.7us, total=9.3ms, count=18, min=0.4ms, max=0.9ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=20.0us, 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 +[05/10 22:32:15 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses +[05/10 22:32:15 INFO pipeline.py:1491] Success count: 13, Total count: 13 +[05/10 22:32:15 INFO pipeline.py:1492] Success rate: 100.00% +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes +========================================== +Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_009 +========================================== diff --git a/fridge_7/chunk_009/shard_2_of_4.log b/fridge_7/chunk_009/shard_2_of_4.log index d8d9a77efb3e4f09ee2e89ddf850887c55def0ca..bd75e437dd5bf2b758d281eba5faf2a46989fde9 100644 --- a/fridge_7/chunk_009/shard_2_of_4.log +++ b/fridge_7/chunk_009/shard_2_of_4.log @@ -1299,3 +1299,483 @@ DEBUG:h5py._conv:Creating converter from 5 to 3 [05/10 22:21:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... [05/10 22:21:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift [05/10 22:22:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True +[05/10 22:22:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:22:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes +[05/10 22:22:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:23:10 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:23:10 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:23:10 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.87s (batch: 4.06s, save: 7.81s) +[05/10 22:23:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.43s: + episode_total: mean=187.23s, total=187.23s, count=1, min=187232.5ms, max=187232.5ms + sensor_polling: mean=463.5ms, total=139.06s, count=300, min=384.0ms, max=742.2ms + save_trajectories: mean=7.81s, total=7.81s, count=1, min=7812.4ms, max=7812.4ms + physics_step: mean=21.6ms, total=6.48s, count=300, min=13.4ms, max=74.8ms + save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4055.3ms, max=4055.3ms + task_sampling: mean=429.1ms, total=429.1ms, count=1, min=429.1ms, max=429.1ms + task_specific_sample: mean=425.6ms, total=425.6ms, count=1, min=425.6ms, max=425.6ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=381.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 +[05/10 22:23:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:23:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:23:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:23:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:23:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:23:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:23:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:23:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:23:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:23:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:23:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) +[05/10 22:23:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:23:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:23:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018567m +[05/10 22:23:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:23:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:23:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:23:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83947089 0.10069514 0.0185669 ] yaw=159.7deg +[05/10 22:23:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:23:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:23:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:23:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90573385 0.68221977 0.0185669 ] yaw=-174.6deg +[05/10 22:23:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:23:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:23:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88724782 0.42898095 0.0185669 ] yaw=174.1deg +[05/10 22:23:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:23:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:23:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=494.2ms, total=494.2ms +[05/10 22:23:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.101, 0.019) +[05/10 22:23:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg +[05/10 22:23:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.943m +[05/10 22:23:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:23:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:23:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:23:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:23:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:23:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3 +[05/10 22:23:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.143s +[05/10 22:23:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:23:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:23:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps +[05/10 22:23:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.129s, found feasible grasp: True +[05/10 22:23:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.544[m] 104.107[deg] +[05/10 22:23:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:23:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:23:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:24:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:24:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:24:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:25:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:25:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:25:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:25:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:25:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:25:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:25:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:25:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:25:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:26:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:26:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:26:02 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:26:02 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/10 22:26:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:26:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:26:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 78 non-colliding grasps +[05/10 22:26:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.412s, found feasible grasp: True +[05/10 22:26:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.390[deg] +[05/10 22:26:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:26:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:26:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:26:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True +[05/10 22:26:28 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:26:28 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes +[05/10 22:26:28 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:26:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:26:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:26:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.14s (batch: 3.94s, save: 8.20s) +[05/10 22:26:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.77s: + episode_total: mean=208.29s, total=208.29s, count=1, min=208292.1ms, max=208292.1ms + sensor_polling: mean=457.9ms, total=137.38s, count=300, min=401.3ms, max=745.1ms + save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.1ms, max=8195.1ms + physics_step: mean=21.4ms, total=6.43s, count=300, min=12.5ms, max=56.3ms + save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3944.3ms, max=3944.3ms + task_sampling: mean=767.0ms, total=767.0ms, count=1, min=767.0ms, max=767.0ms + task_specific_sample: mean=762.4ms, total=762.4ms, count=1, min=762.4ms, max=762.4ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=553.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + 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 +[05/10 22:26:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:26:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:26:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:26:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:26:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:26:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:26:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:26:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:26:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:26:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:26:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m) +[05/10 22:26:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:26:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:26:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045880m +[05/10 22:26:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:26:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:26:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:26:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:26:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:26:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77639093 0.01429618 0.04587987] yaw=152.1deg +[05/10 22:26:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:26:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90930912 0.52338189 0.04587987] yaw=-168.4deg +[05/10 22:26:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:26:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:26:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07001736 1.05386642 0.04587987] yaw=-147.8deg +[05/10 22:26:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:26:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:26:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.5ms, total=100.5ms +[05/10 22:26:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.776, 0.014, 0.046) +[05/10 22:26:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 152.1 deg +[05/10 22:26:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.037m +[05/10 22:26:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:26:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:26:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:26:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:26:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:26:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3 +[05/10 22:26:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s +[05/10 22:26:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:26:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:26:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps +[05/10 22:26:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.384s, found feasible grasp: True +[05/10 22:26:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.612[m] 99.055[deg] +[05/10 22:26:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:26:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:26:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:27:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:27:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:27:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:29:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True +[05/10 22:29:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:29:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes +[05/10 22:29:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:29:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:29:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:29:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.97s (batch: 3.90s, save: 8.07s) +[05/10 22:29:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.35s: + episode_total: mean=186.14s, total=186.14s, count=1, min=186138.7ms, max=186138.7ms + sensor_polling: mean=466.3ms, total=139.89s, count=300, min=404.9ms, max=739.4ms + save_trajectories: mean=8.07s, total=8.07s, count=1, min=8073.2ms, max=8073.2ms + physics_step: mean=21.4ms, total=6.43s, count=300, min=13.6ms, max=56.7ms + save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3901.1ms, max=3901.1ms + task_sampling: mean=347.3ms, total=347.3ms, count=1, min=347.3ms, max=347.3ms + task_specific_sample: mean=344.0ms, total=344.0ms, count=1, min=344.0ms, max=344.0ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=367.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.7us, 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 +[05/10 22:29:50 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:29:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:29:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:29:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:29:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:29:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:29:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:29:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:29:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:29:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:29:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m) +[05/10 22:29:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:29:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:29:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003126m +[05/10 22:29:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:29:50 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:29:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:29:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:29:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:29:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:29:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:29:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:29:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.7144439 0.32578562 0.00312574] yaw=175.6deg +[05/10 22:29:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:29:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97511703 0.67801065 0.00312574] yaw=-168.7deg +[05/10 22:29:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:29:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:29:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=152.3ms, total=152.3ms +[05/10 22:29:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.326, 0.003) +[05/10 22:29:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.6 deg +[05/10 22:29:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.000m +[05/10 22:29:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:29:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:29:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:29:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:29:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:29:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3 +[05/10 22:29:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s +[05/10 22:29:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:29:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:29:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/10 22:29:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.480s, found feasible grasp: True +[05/10 22:29:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.551[m] 92.991[deg] +[05/10 22:29:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:29:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:29:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:30:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:30:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:30:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:32:14 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True +[05/10 22:32:33 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:32:33 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes +[05/10 22:32:33 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:32:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:32:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:32:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.00s (batch: 3.68s, save: 8.32s) +[05/10 22:32:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.41s: + episode_total: mean=175.22s, total=175.22s, count=1, min=175218.4ms, max=175218.4ms + sensor_polling: mean=441.4ms, total=132.43s, count=300, min=363.9ms, max=717.1ms + save_trajectories: mean=8.32s, total=8.32s, count=1, min=8315.2ms, max=8315.2ms + physics_step: mean=21.6ms, total=6.49s, count=300, min=13.8ms, max=52.4ms + save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3680.6ms, max=3680.6ms + task_sampling: mean=408.0ms, total=408.0ms, count=1, min=408.0ms, max=408.0ms + task_specific_sample: mean=404.6ms, total=404.6ms, count=1, min=404.6ms, max=404.6ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=376.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.8us, 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 +[05/10 22:32:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:32:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:32:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:32:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:32:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:32:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:32:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:32:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:32:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:32:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:32:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m) +[05/10 22:32:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:32:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:32:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037582m +[05/10 22:32:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:32:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:32:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:32:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:32:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:32:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:32:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:32:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87416368 0.65693251 0.03758154] yaw=-174.7deg +[05/10 22:32:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:32:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91866886 0.24454192 0.03758154] yaw=159.0deg +[05/10 22:32:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:32:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10350493 0.99059939 0.03758154] yaw=-129.8deg +[05/10 22:32:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:32:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:32:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.9ms, total=112.9ms +[05/10 22:32:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.874, 0.657, 0.038) +[05/10 22:32:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg +[05/10 22:32:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.846m +[05/10 22:32:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:32:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:32:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:32:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:32:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:32:47 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3 +[05/10 22:32:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s +[05/10 22:32:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:32:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:32:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:32:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.476s, found feasible grasp: True +[05/10 22:32:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.407[m] 87.252[deg] +[05/10 22:32:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:32:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:32:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:33:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:33:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:33:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:34:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True +[05/10 22:35:18 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 16 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:35:18 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes +[05/10 22:35:18 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:35:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:35:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:35:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.21s (batch: 3.38s, save: 7.83s) +[05/10 22:35:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.36s: + episode_total: mean=163.16s, total=163.16s, count=1, min=163163.2ms, max=163163.2ms + sensor_polling: mean=396.9ms, total=119.07s, count=300, min=361.5ms, max=576.0ms + save_trajectories: mean=7.83s, total=7.83s, count=1, min=7826.7ms, max=7826.7ms + physics_step: mean=19.2ms, total=5.75s, count=300, min=13.5ms, max=49.1ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3381.9ms, max=3381.9ms + task_sampling: mean=359.8ms, total=359.8ms, count=1, min=359.8ms, max=359.8ms + task_specific_sample: mean=356.4ms, total=356.4ms, count=1, min=356.4ms, max=356.4ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=379.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.6us, 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 +[05/10 22:35:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:35:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:35:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:35:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:35:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:35:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:35:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:35:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:35:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:35:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:35:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m) +[05/10 22:35:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:35:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:35:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063389m +[05/10 22:35:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:35:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:35:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:35:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:35:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:35:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84072344 0.26488108 0.06338932] yaw=158.4deg +[05/10 22:35:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:35:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:35:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86796254 0.36713108 0.06338932] yaw=182.4deg +[05/10 22:35:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:35:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75110181 0.28180705 0.06338932] yaw=164.1deg +[05/10 22:35:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:35:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:35:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.6ms, total=170.6ms +[05/10 22:35:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.265, 0.063) +[05/10 22:35:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.4 deg +[05/10 22:35:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.889m +[05/10 22:35:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:35:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:35:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:35:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:35:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:35:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3 +[05/10 22:35:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.124s +[05/10 22:35:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:35:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:35:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps +[05/10 22:35:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.842s, found feasible grasp: True +[05/10 22:35:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.446[m] 93.772[deg] +[05/10 22:35:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:35:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:35:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:36:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:36:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:36:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:37:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:37:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:37:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:37:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:37:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:37:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:37:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:37:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:37:19 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:37:19 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/10 22:37:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:37:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:37:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps +[05/10 22:37:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.367s, found feasible grasp: True +[05/10 22:37:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.776[deg] +[05/10 22:37:20 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/10 22:37:22 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_009 +[05/10 22:37:22 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_009 +[05/10 22:37:22 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 17/17 successful episodes +[05/10 22:37:22 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 17/17 successful, 17 episodes, total_time=6494.81s + House averages: + episode_total: mean=197.01s, total=3546.12s, count=18, min=109145.5ms, max=245377.0ms + sensor_polling: mean=483.8ms, total=2563.43s, count=5298, min=361.5ms, max=1169.7ms + save_trajectories: mean=9.36s, total=159.15s, count=17, min=7812.4ms, max=13244.3ms + physics_step: mean=22.7ms, total=120.51s, count=5298, min=11.5ms, max=117.9ms + save_batch_prep: mean=4.29s, total=72.87s, count=17, min=3381.9ms, max=5197.7ms + task_sampling: mean=762.4ms, total=13.72s, count=18, min=347.3ms, max=4624.7ms + task_specific_sample: mean=536.8ms, total=9.66s, count=18, min=344.0ms, max=1206.0ms + scene_load: mean=3.98s, total=3.98s, count=1, min=3984.0ms, max=3984.0ms + scene_env_create: mean=2.50s, total=2.50s, count=1, min=2499.2ms, max=2499.2ms + scene_compile: mean=1.24s, total=1.24s, count=1, min=1238.1ms, max=1238.1ms + compile_mujoco: mean=979.4ms, total=979.4ms, count=1, min=979.4ms, max=979.4ms + scene_init: mean=203.5ms, total=203.5ms, count=1, min=203.5ms, max=203.5ms + compile_xml_load: mean=190.2ms, total=190.2ms, count=1, min=190.2ms, max=190.2ms + scene_randomize: mean=2.6ms, total=47.2ms, count=18, min=2.1ms, max=3.6ms + scene_asset_install: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms + compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms + compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms + asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms + compile_robot_add: mean=16.8ms, total=16.8ms, count=1, min=16.8ms, max=16.8ms + mj_forward_sync: mean=671.2us, total=12.1ms, count=18, min=0.4ms, max=4.2ms + asset_install_objects: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=22.0us, 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 +[05/10 22:37:22 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses +[05/10 22:37:22 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 17 episodes, total_time=6494.81s + Worker averages: + episode_total: mean=197.01s, total=3546.12s, count=18, min=109145.5ms, max=245377.0ms + sensor_polling: mean=483.8ms, total=2563.43s, count=5298, min=361.5ms, max=1169.7ms + save_trajectories: mean=9.36s, total=159.15s, count=17, min=7812.4ms, max=13244.3ms + physics_step: mean=22.7ms, total=120.51s, count=5298, min=11.5ms, max=117.9ms + save_batch_prep: mean=4.29s, total=72.87s, count=17, min=3381.9ms, max=5197.7ms + task_sampling: mean=762.4ms, total=13.72s, count=18, min=347.3ms, max=4624.7ms + task_specific_sample: mean=536.8ms, total=9.66s, count=18, min=344.0ms, max=1206.0ms + scene_load: mean=3.98s, total=3.98s, count=1, min=3984.0ms, max=3984.0ms + scene_env_create: mean=2.50s, total=2.50s, count=1, min=2499.2ms, max=2499.2ms + scene_compile: mean=1.24s, total=1.24s, count=1, min=1238.1ms, max=1238.1ms + compile_mujoco: mean=979.4ms, total=979.4ms, count=1, min=979.4ms, max=979.4ms + scene_init: mean=203.5ms, total=203.5ms, count=1, min=203.5ms, max=203.5ms + compile_xml_load: mean=190.2ms, total=190.2ms, count=1, min=190.2ms, max=190.2ms + scene_randomize: mean=2.6ms, total=47.2ms, count=18, min=2.1ms, max=3.6ms + scene_asset_install: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms + compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms + compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms + asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms + compile_robot_add: mean=16.8ms, total=16.8ms, count=1, min=16.8ms, max=16.8ms + mj_forward_sync: mean=671.2us, total=12.1ms, count=18, min=0.4ms, max=4.2ms + asset_install_objects: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=22.0us, 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 +[05/10 22:37:24 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses +[05/10 22:37:24 INFO pipeline.py:1491] Success count: 17, Total count: 17 +[05/10 22:37:24 INFO pipeline.py:1492] Success rate: 100.00% +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes +========================================== +Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_009 +========================================== diff --git a/fridge_7/chunk_009/shard_3_of_4.log b/fridge_7/chunk_009/shard_3_of_4.log index 112a79d335a281f925ccd54555b9f079d0dcafe4..802cc9c975038e972b6d288450226373a0ad6c3c 100644 --- a/fridge_7/chunk_009/shard_3_of_4.log +++ b/fridge_7/chunk_009/shard_3_of_4.log @@ -1362,3 +1362,351 @@ ValueError: IK failed for pregrasp pose [05/10 22:21:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp [05/10 22:21:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... [05/10 22:21:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:23:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True +[05/10 22:23:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:23:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes +[05/10 22:23:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps +[05/10 22:23:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:23:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:23:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.89s (batch: 3.84s, save: 8.05s) +[05/10 22:23:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.41s: + episode_total: mean=187.78s, total=187.78s, count=1, min=187779.3ms, max=187779.3ms + sensor_polling: mean=484.2ms, total=141.87s, count=293, min=402.9ms, max=915.5ms + save_trajectories: mean=8.05s, total=8.05s, count=1, min=8050.6ms, max=8050.6ms + physics_step: mean=22.8ms, total=6.69s, count=293, min=14.1ms, max=57.2ms + save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3843.2ms, max=3843.2ms + task_sampling: mean=407.9ms, total=407.9ms, count=1, min=407.9ms, max=407.9ms + task_specific_sample: mean=404.2ms, total=404.2ms, count=1, min=404.2ms, max=404.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=387.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.8us, 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 +[05/10 22:23:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:23:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:23:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:23:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:23:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:23:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:23:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:23:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:23:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:23:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:23:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) +[05/10 22:23:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:23:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:23:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031420m +[05/10 22:23:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:23:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:23:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:23:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:23:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:23:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:23:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:23:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74422943 0.77382923 0.03141982] yaw=-171.7deg +[05/10 22:23:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:23:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:23:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=228.2ms, total=228.3ms +[05/10 22:23:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.774, 0.031) +[05/10 22:23:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.7 deg +[05/10 22:23:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.002m +[05/10 22:23:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:23:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:23:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:23:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:23:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:23:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3 +[05/10 22:23:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s +[05/10 22:23:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:23:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:23:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps +[05/10 22:23:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.608s, found feasible grasp: True +[05/10 22:23:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.583[m] 91.074[deg] +[05/10 22:23:44 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/10 22:23:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:23:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:23:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:23:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:23:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:23:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:23:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:23:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:23:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:23:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:23:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m) +[05/10 22:23:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:23:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:23:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026704m +[05/10 22:23:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:23:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:23:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:23:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:23:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:23:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67523858 0.29137131 0.02670364] yaw=173.1deg +[05/10 22:23:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:23:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:23:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:23:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81969392 0.13940133 0.02670364] yaw=159.1deg +[05/10 22:23:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:23:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8674853 0.22308104 0.02670364] yaw=165.4deg +[05/10 22:23:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:23:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:23:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.3ms, total=141.3ms +[05/10 22:23:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.675, 0.291, 0.027) +[05/10 22:23:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 173.1 deg +[05/10 22:23:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.045m +[05/10 22:23:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:23:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:23:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:23:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:23:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:23:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3 +[05/10 22:23:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s +[05/10 22:23:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:23:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:23:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:23:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.613s, found feasible grasp: True +[05/10 22:23:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.586[m] 86.063[deg] +[05/10 22:23:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:23:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:23:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:24:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:24:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:24:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:26:18 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True +[05/10 22:26:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:26:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes +[05/10 22:26:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:26:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:26:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:26:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.31s (batch: 3.79s, save: 7.53s) +[05/10 22:26:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.90s: + episode_total: mean=94.41s, total=188.83s, count=2, min=2851.2ms, max=185976.3ms + sensor_polling: mean=466.4ms, total=139.92s, count=300, min=397.2ms, max=907.5ms + save_trajectories: mean=7.53s, total=7.53s, count=1, min=7527.5ms, max=7527.5ms + physics_step: mean=23.0ms, total=6.90s, count=300, min=14.4ms, max=42.5ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3785.7ms, max=3785.7ms + task_sampling: mean=452.2ms, total=904.5ms, count=2, min=361.4ms, max=543.1ms + task_specific_sample: mean=449.1ms, total=898.2ms, count=2, min=358.7ms, max=539.5ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.1ms, max=2.3ms + mj_forward_sync: mean=380.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=17.5us, 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 +[05/10 22:26:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:26:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:26:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:26:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:26:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:26:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:26:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:26:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:26:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:26:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:26:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m) +[05/10 22:26:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:26:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:26:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058448m +[05/10 22:26:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:26:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:26:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:26:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77705323 0.91576464 0.05844776] yaw=-161.1deg +[05/10 22:26:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:26:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:26:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94790866 0.79077819 0.05844776] yaw=-150.3deg +[05/10 22:26:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:26:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:26:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:26:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15615181 1.08574421 0.05844776] yaw=-139.6deg +[05/10 22:26:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:26:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:26:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.6ms, total=139.6ms +[05/10 22:26:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.916, 0.058) +[05/10 22:26:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg +[05/10 22:26:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.022m +[05/10 22:26:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:26:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:26:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:26:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:26:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:26:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3 +[05/10 22:26:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s +[05/10 22:26:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:26:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:26:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:26:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.595s, found feasible grasp: True +[05/10 22:26:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 40 (originally 40): w/ 0.567[m] 87.093[deg] +[05/10 22:26:56 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/10 22:26:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:26:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:26:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:26:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:26:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:26:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:26:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:26:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:26:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:26:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:26:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) +[05/10 22:26:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:26:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:26:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008146m +[05/10 22:26:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:26:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:26:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:26:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:26:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:26:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:26:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66398494 0.32599308 0.00814617] yaw=166.6deg +[05/10 22:26:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:26:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92616365 1.17514129 0.00814617] yaw=-139.3deg +[05/10 22:26:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:26:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83688984 0.95449991 0.00814617] yaw=-149.4deg +[05/10 22:26:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:26:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:26:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.8ms, total=97.8ms +[05/10 22:26:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.664, 0.326, 0.008) +[05/10 22:26:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg +[05/10 22:26:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.050m +[05/10 22:26:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:26:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:26:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:26:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:26:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:26:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3 +[05/10 22:26:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s +[05/10 22:26:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:26:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:26:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:26:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.586s, found feasible grasp: True +[05/10 22:26:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.608[m] 88.910[deg] +[05/10 22:26:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:26:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:26:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:27:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:28:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:28:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:29:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True +[05/10 22:29:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:29:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes +[05/10 22:29:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:30:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:30:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:30:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 10.96s (batch: 3.59s, save: 7.37s) +[05/10 22:30:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.75s: + episode_total: mean=93.72s, total=187.44s, count=2, min=3154.1ms, max=184283.0ms + sensor_polling: mean=464.5ms, total=139.36s, count=300, min=390.2ms, max=939.9ms + save_trajectories: mean=7.37s, total=7.37s, count=1, min=7368.9ms, max=7368.9ms + physics_step: mean=23.3ms, total=6.99s, count=300, min=16.9ms, max=129.9ms + save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3592.6ms, max=3592.6ms + task_sampling: mean=375.1ms, total=750.2ms, count=2, min=325.7ms, max=424.5ms + task_specific_sample: mean=372.2ms, total=744.3ms, count=2, min=323.0ms, max=421.3ms + scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.1ms, max=1.9ms + mj_forward_sync: mean=383.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.2us, 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 +[05/10 22:30:03 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_009 +[05/10 22:30:03 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_009 +[05/10 22:30:03 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 14/14 successful episodes +[05/10 22:30:03 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5651.59s + House averages: + episode_total: mean=172.58s, total=3106.35s, count=18, min=2851.2ms, max=235448.3ms + sensor_polling: mean=500.0ms, total=2216.40s, count=4433, min=390.2ms, max=1207.3ms + save_trajectories: mean=9.08s, total=127.12s, count=14, min=7368.9ms, max=12549.3ms + physics_step: mean=25.1ms, total=111.10s, count=4433, min=12.8ms, max=132.8ms + save_batch_prep: mean=4.32s, total=60.41s, count=14, min=3592.6ms, max=5581.0ms + task_sampling: mean=709.1ms, total=12.76s, count=18, min=325.7ms, max=4308.0ms + task_specific_sample: mean=505.2ms, total=9.09s, count=18, min=323.0ms, max=924.8ms + scene_load: mean=3.60s, total=3.60s, count=1, min=3602.5ms, max=3602.5ms + scene_env_create: mean=2.36s, total=2.36s, count=1, min=2360.2ms, max=2360.2ms + scene_compile: mean=980.2ms, total=980.2ms, count=1, min=980.2ms, max=980.2ms + compile_mujoco: mean=734.7ms, total=734.7ms, count=1, min=734.7ms, max=734.7ms + scene_init: mean=201.3ms, total=201.3ms, count=1, min=201.3ms, max=201.3ms + compile_xml_load: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms + compile_aux_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms + compile_aux_policy_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms + scene_asset_install: mean=60.4ms, total=60.4ms, count=1, min=60.4ms, max=60.4ms + asset_install_grasps: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms + scene_randomize: mean=2.1ms, total=38.7ms, count=18, min=1.1ms, max=2.8ms + asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms + mj_forward_sync: mean=649.4us, total=11.7ms, count=18, min=0.4ms, max=4.3ms + compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms + policy_setup: mean=22.0us, 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 +[05/10 22:30:03 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses +[05/10 22:30:03 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5651.59s + Worker averages: + episode_total: mean=172.58s, total=3106.35s, count=18, min=2851.2ms, max=235448.3ms + sensor_polling: mean=500.0ms, total=2216.40s, count=4433, min=390.2ms, max=1207.3ms + save_trajectories: mean=9.08s, total=127.12s, count=14, min=7368.9ms, max=12549.3ms + physics_step: mean=25.1ms, total=111.10s, count=4433, min=12.8ms, max=132.8ms + save_batch_prep: mean=4.32s, total=60.41s, count=14, min=3592.6ms, max=5581.0ms + task_sampling: mean=709.1ms, total=12.76s, count=18, min=325.7ms, max=4308.0ms + task_specific_sample: mean=505.2ms, total=9.09s, count=18, min=323.0ms, max=924.8ms + scene_load: mean=3.60s, total=3.60s, count=1, min=3602.5ms, max=3602.5ms + scene_env_create: mean=2.36s, total=2.36s, count=1, min=2360.2ms, max=2360.2ms + scene_compile: mean=980.2ms, total=980.2ms, count=1, min=980.2ms, max=980.2ms + compile_mujoco: mean=734.7ms, total=734.7ms, count=1, min=734.7ms, max=734.7ms + scene_init: mean=201.3ms, total=201.3ms, count=1, min=201.3ms, max=201.3ms + compile_xml_load: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms + compile_aux_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms + compile_aux_policy_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms + scene_asset_install: mean=60.4ms, total=60.4ms, count=1, min=60.4ms, max=60.4ms + asset_install_grasps: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms + scene_randomize: mean=2.1ms, total=38.7ms, count=18, min=1.1ms, max=2.8ms + asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms + mj_forward_sync: mean=649.4us, total=11.7ms, count=18, min=0.4ms, max=4.3ms + compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms + policy_setup: mean=22.0us, 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 +[05/10 22:30:06 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses +[05/10 22:30:06 INFO pipeline.py:1491] Success count: 14, Total count: 14 +[05/10 22:30:06 INFO pipeline.py:1492] Success rate: 100.00% +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes +========================================== +Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_009 +========================================== diff --git a/fridge_7/chunk_009/shard_4_of_4.log b/fridge_7/chunk_009/shard_4_of_4.log index 6aa56b5e3f56a21cc8b629bb41e9bcb4c3399763..1b67a169971a5ca938b294f1f1420910f1acc976 100644 --- a/fridge_7/chunk_009/shard_4_of_4.log +++ b/fridge_7/chunk_009/shard_4_of_4.log @@ -1424,3 +1424,376 @@ ValueError: IK failed for pregrasp pose [05/10 22:21:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp [05/10 22:22:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp [05/10 22:22:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:22:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:23:56 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True +[05/10 22:24:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:24:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes +[05/10 22:24:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:24:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:24:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:24:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.64s (batch: 4.06s, save: 7.58s) +[05/10 22:24:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.38s: + episode_total: mean=188.26s, total=188.26s, count=1, min=188257.0ms, max=188257.0ms + sensor_polling: mean=475.4ms, total=142.62s, count=300, min=386.5ms, max=871.7ms + save_trajectories: mean=7.58s, total=7.58s, count=1, min=7576.6ms, max=7576.6ms + physics_step: mean=21.6ms, total=6.49s, count=300, min=16.6ms, max=48.1ms + save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4064.8ms, max=4064.8ms + task_sampling: mean=376.4ms, total=376.4ms, count=1, min=376.4ms, max=376.4ms + task_specific_sample: mean=372.7ms, total=372.7ms, count=1, min=372.7ms, max=372.7ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=435.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 +[05/10 22:24:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:24:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:24:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:24:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:24:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:24:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:24:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:24:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:24:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:24:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:24:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m) +[05/10 22:24:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:24:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:24:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024004m +[05/10 22:24:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:24:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:24:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:24:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05857845 1.18804482 0.02400358] yaw=-123.0deg +[05/10 22:24:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:24:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:24:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:24:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:24:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86360394 0.9534524 0.02400358] yaw=-159.3deg +[05/10 22:24:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:24:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93201839 0.96945378 0.02400358] yaw=-149.5deg +[05/10 22:24:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:24:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:24:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.0ms, total=163.0ms +[05/10 22:24:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.059, 1.188, 0.024) +[05/10 22:24:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -123.0 deg +[05/10 22:24:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.955m +[05/10 22:24:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:24:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:24:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:24:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:24:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:24:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3 +[05/10 22:24:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s +[05/10 22:24:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:24:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:24:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps +[05/10 22:24:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.207s, found feasible grasp: True +[05/10 22:24:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.552[m] 92.432[deg] +[05/10 22:24:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:24:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:24:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:25:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:25:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:25:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:26:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:26:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:26:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:26:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:26:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:26:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:26:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:26:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:26:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:26:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/10 22:26:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:26:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:26:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps +[05/10 22:26:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.473s, found feasible grasp: True +[05/10 22:26:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.057[m] 10.113[deg] +[05/10 22:26:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/10 22:26:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:26:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:26:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:26:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:26:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:26:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:26:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:26:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:26:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:26:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:26:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m) +[05/10 22:26:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:26:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:26:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069315m +[05/10 22:26:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:26:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:26:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:26:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:26:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:26:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80308385 0.46582673 0.06931477] yaw=179.2deg +[05/10 22:26:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:26:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:26:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91958734 0.11170152 0.06931477] yaw=144.2deg +[05/10 22:26:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:26:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:26:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=177.9ms, total=177.9ms +[05/10 22:26:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.803, 0.466, 0.069) +[05/10 22:26:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.2 deg +[05/10 22:26:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.899m +[05/10 22:26:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:26:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:26:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:26:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:26:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:26:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3 +[05/10 22:26:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s +[05/10 22:26:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:26:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:26:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:26:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.441s, found feasible grasp: True +[05/10 22:26:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.462[m] 90.657[deg] +[05/10 22:26:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:26:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:26:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:27:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:27:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:27:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:29:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True +[05/10 22:29:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:29:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes +[05/10 22:29:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:29:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:29:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:29:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.65s (batch: 4.06s, save: 7.59s) +[05/10 22:29:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.86s: + episode_total: mean=162.52s, total=325.04s, count=2, min=141600.5ms, max=183441.8ms + sensor_polling: mean=459.2ms, total=255.77s, count=557, min=384.1ms, max=855.4ms + physics_step: mean=22.0ms, total=12.27s, count=557, min=14.0ms, max=82.7ms + save_trajectories: mean=7.59s, total=7.59s, count=1, min=7586.3ms, max=7586.3ms + save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4059.4ms, max=4059.4ms + task_sampling: mean=427.8ms, total=855.6ms, count=2, min=406.3ms, max=449.2ms + task_specific_sample: mean=424.3ms, total=848.6ms, count=2, min=403.5ms, max=445.1ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.2ms, max=2.7ms + mj_forward_sync: mean=403.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=17.4us, 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 +[05/10 22:29:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:29:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:29:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:29:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:29:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:29:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:29:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:29:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:29:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:29:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:29:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m) +[05/10 22:29:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:29:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:29:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072703m +[05/10 22:29:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:29:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:29:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:29:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91947962 0.37651981 0.07270264] yaw=178.6deg +[05/10 22:29:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:29:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86224067 0.22135202 0.07270264] yaw=173.7deg +[05/10 22:29:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:29:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08929711 0.98712135 0.07270264] yaw=-138.6deg +[05/10 22:29:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:29:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:29:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.0ms, total=69.1ms +[05/10 22:29:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.377, 0.073) +[05/10 22:29:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 178.6 deg +[05/10 22:29:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.790m +[05/10 22:29:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:29:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:29:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:29:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:30:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:30:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3 +[05/10 22:30:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s +[05/10 22:30:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:30:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:30:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:30:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.472s, found feasible grasp: True +[05/10 22:30:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.348[m] 82.097[deg] +[05/10 22:30:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:30:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:30:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:30:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:30:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:30:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:31:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:31:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:31:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:31:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:31:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:31:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:31:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:31:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:31:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:31:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/10 22:31:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:31:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:31:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps +[05/10 22:31:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.978s, found feasible grasp: True +[05/10 22:31:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.578[deg] +[05/10 22:31:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:31:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:31:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:31:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:31:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:31:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:31:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:31:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:31:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:31:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/10 22:31:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:31:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:31:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 80 non-colliding grasps +[05/10 22:31:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.457s, found feasible grasp: True +[05/10 22:31:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.101[m] 0.590[deg] +[05/10 22:31:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:31:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:31:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:31:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:31:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:31:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:31:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:31:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:31:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3 +[05/10 22:31:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:31:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:31:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 80 non-colliding grasps +[05/10 22:31:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.435s, found feasible grasp: True +[05/10 22:31:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.101[m] 0.590[deg] +[05/10 22:31:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:31:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:31:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:32:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:32:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:32:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:32:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:32:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:32:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:32:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:32:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:32:16 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:32:16 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed. +[05/10 22:32:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False +[05/10 22:32:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=False episode_total=0.36s: + episode_total: mean=136.73s, total=136.73s, count=1, min=136727.7ms, max=136727.7ms + sensor_polling: mean=446.7ms, total=88.89s, count=199, min=397.7ms, max=689.5ms + physics_step: mean=19.4ms, total=3.86s, count=199, min=12.0ms, max=45.1ms + task_sampling: mean=363.2ms, total=363.2ms, count=1, min=363.2ms, max=363.2ms + task_specific_sample: mean=359.7ms, total=359.7ms, count=1, min=359.7ms, max=359.7ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=386.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 +[05/10 22:32:18 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_009 +[05/10 22:32:18 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_009 +[05/10 22:32:18 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/13 successful episodes +[05/10 22:32:18 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5951.41s + House averages: + episode_total: mean=180.02s, total=3240.35s, count=18, min=5704.2ms, max=239904.3ms + sensor_polling: mean=495.1ms, total=2398.62s, count=4845, min=384.1ms, max=1253.3ms + physics_step: mean=23.6ms, total=114.26s, count=4845, min=12.0ms, max=101.6ms + save_trajectories: mean=9.23s, total=110.70s, count=12, min=7576.6ms, max=11818.2ms + save_batch_prep: mean=4.46s, total=53.51s, count=12, min=4026.4ms, max=5570.9ms + task_sampling: mean=787.1ms, total=14.17s, count=18, min=363.2ms, max=4874.2ms + task_specific_sample: mean=556.0ms, total=10.01s, count=18, min=359.7ms, max=1086.7ms + scene_load: mean=4.09s, total=4.09s, count=1, min=4089.0ms, max=4089.0ms + scene_env_create: mean=2.48s, total=2.48s, count=1, min=2478.2ms, max=2478.2ms + scene_compile: mean=1.49s, total=1.49s, count=1, min=1485.5ms, max=1485.5ms + compile_mujoco: mean=878.9ms, total=878.9ms, count=1, min=878.9ms, max=878.9ms + compile_xml_load: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms + scene_init: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms + scene_asset_install: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms + scene_randomize: mean=2.4ms, total=42.7ms, count=18, min=1.2ms, max=3.9ms + compile_aux_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms + compile_aux_policy_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms + asset_install_grasps: mean=36.9ms, total=36.9ms, count=1, min=36.9ms, max=36.9ms + asset_install_objects: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms + compile_robot_add: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms + mj_forward_sync: mean=463.7us, total=8.3ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + policy_setup: mean=22.8us, 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 +[05/10 22:32:18 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses +[05/10 22:32:18 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5951.41s + Worker averages: + episode_total: mean=180.02s, total=3240.35s, count=18, min=5704.2ms, max=239904.3ms + sensor_polling: mean=495.1ms, total=2398.62s, count=4845, min=384.1ms, max=1253.3ms + physics_step: mean=23.6ms, total=114.26s, count=4845, min=12.0ms, max=101.6ms + save_trajectories: mean=9.23s, total=110.70s, count=12, min=7576.6ms, max=11818.2ms + save_batch_prep: mean=4.46s, total=53.51s, count=12, min=4026.4ms, max=5570.9ms + task_sampling: mean=787.1ms, total=14.17s, count=18, min=363.2ms, max=4874.2ms + task_specific_sample: mean=556.0ms, total=10.01s, count=18, min=359.7ms, max=1086.7ms + scene_load: mean=4.09s, total=4.09s, count=1, min=4089.0ms, max=4089.0ms + scene_env_create: mean=2.48s, total=2.48s, count=1, min=2478.2ms, max=2478.2ms + scene_compile: mean=1.49s, total=1.49s, count=1, min=1485.5ms, max=1485.5ms + compile_mujoco: mean=878.9ms, total=878.9ms, count=1, min=878.9ms, max=878.9ms + compile_xml_load: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms + scene_init: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms + scene_asset_install: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms + scene_randomize: mean=2.4ms, total=42.7ms, count=18, min=1.2ms, max=3.9ms + compile_aux_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms + compile_aux_policy_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms + asset_install_grasps: mean=36.9ms, total=36.9ms, count=1, min=36.9ms, max=36.9ms + asset_install_objects: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms + compile_robot_add: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms + mj_forward_sync: mean=463.7us, total=8.3ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + policy_setup: mean=22.8us, 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 +[05/10 22:32:20 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses +[05/10 22:32:20 INFO pipeline.py:1491] Success count: 12, Total count: 13 +[05/10 22:32:20 INFO pipeline.py:1492] Success rate: 92.31% +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes +========================================== +Done. 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sha256:0d513eb81577206fd6ce8b060a27c5b50673e0efa0d17ff59a88ab7ebc34343e +size 8011 diff --git a/fridge_7/chunk_010/running_log.log b/fridge_7/chunk_010/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..2401d665cfabae5f4f93b563648c62c18304c189 --- /dev/null +++ b/fridge_7/chunk_010/running_log.log @@ -0,0 +1,3797 @@ +05/10 22:37:51 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/10 22:37:51 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/10 22:37:51 INFO: Evaluation configuration: [pipeline.py: 1366] +05/10 22:37:51 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_7/sim_chunks/chunk_010'), + '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, + 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'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] +05/10 22:37:52 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] +05/10 22:37:52 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/10 22:37:52 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/10 22:37:52 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/10 22:37:52 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/10 22:37:52 INFO: Evaluation configuration: [pipeline.py: 1366] +05/10 22:37:52 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_7/sim_chunks/chunk_010'), + '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_7', + 'seed': 21001, + '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] +05/10 22:37:52 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] +05/10 22:37:52 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/10 22:37:52 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/10 22:37:52 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/10 22:37:52 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/10 22:37:52 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/10 22:37:52 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/10 22:37:52 INFO: Evaluation configuration: [pipeline.py: 1366] +05/10 22:37:52 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_7/sim_chunks/chunk_010'), + '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_7', + 'seed': 21004, + '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] +05/10 22:37:52 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] +05/10 22:37:52 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/10 22:37:52 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/10 22:37:52 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/10 22:37:52 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/10 22:37:52 INFO: Evaluation configuration: [pipeline.py: 1366] +05/10 22:37:52 INFO: {'batch_num': 3, + '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_7/sim_chunks/chunk_010'), + '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_7', + 'seed': 21003, + '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] +05/10 22:37:52 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] +05/10 22:37:52 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/10 22:37:52 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/10 22:37:53 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/10 22:37:53 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/10 22:37:55 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml [task_sampler.py: 797] +05/10 22:37:55 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/10 22:37:55 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml [task_sampler.py: 797] +05/10 22:37:55 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/10 22:37:55 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/10 22:37:55 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/10 22:37:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:37:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:37:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:37:55 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] +05/10 22:37:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:37:55 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] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049169m [env.py: 870] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:37:55 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:37:55 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/10 22:37:55 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/10 22:37:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:37:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91973279 0.90823225 0.04916875] yaw=-149.0deg [env.py: 1019] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:37:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:37:55 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] +05/10 22:37:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:37:55 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] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077916m [env.py: 870] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:37:55 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:37:55 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml [task_sampler.py: 797] +05/10 22:37:55 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04110699 0.98994084 0.04916875] yaw=-142.0deg [env.py: 1019] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95317579 0.71839542 0.04916875] yaw=-170.8deg [env.py: 1019] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91576263 0.98844995 0.07791641] yaw=-153.1deg [env.py: 1019] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:37:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=11.9ms, retries=124.9ms, total=136.7ms [env.py: 1075] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.920, 0.908, 0.049) [env.py: 1079] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg [env.py: 1082] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01438864 0.80529802 0.07791641] yaw=-155.5deg [env.py: 1019] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:37:55 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/10 22:37:55 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/10 22:37:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:37:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:37:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:37:55 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml [task_sampler.py: 797] +05/10 22:37:55 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/10 22:37:55 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] +05/10 22:37:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:37:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051637m [env.py: 870] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:37:55 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.14159589 0.98161027 0.07791641] yaw=-141.3deg [env.py: 1019] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:37:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=19.2ms, retries=296.3ms, total=315.5ms [env.py: 1075] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.916, 0.988, 0.078) [env.py: 1079] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg [env.py: 1082] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:37:55 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/10 22:37:55 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/10 22:37:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:37:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:37:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:37:55 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] +05/10 22:37:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:37:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041316m [env.py: 870] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:37:55 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94646648 0.29295564 0.05163731] yaw=155.3deg [env.py: 1019] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:37:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:37:55 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94396257 0.26988581 0.05163731] yaw=164.3deg [env.py: 1019] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89916566 0.20718235 0.04131566] yaw=158.5deg [env.py: 1019] +05/10 22:37:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:37:55 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95350825 0.98716034 0.04131566] yaw=-150.8deg [env.py: 1019] +05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97613522 0.83561159 0.05163731] yaw=-143.1deg [env.py: 1019] +05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:37:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=26.2ms, retries=761.1ms, total=787.3ms [env.py: 1075] +05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.293, 0.052) [env.py: 1079] +05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.3 deg [env.py: 1082] +05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.779m [env.py: 1086] +05/10 22:37:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:37:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:37:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:37:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01424324 0.85897738 0.04131566] yaw=-153.3deg [env.py: 1019] +05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:37:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=37.5ms, retries=582.9ms, total=620.3ms [env.py: 1075] +05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.207, 0.041) [env.py: 1079] +05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg [env.py: 1082] +05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/10 22:37:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:37:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:37:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:37:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:37:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:37:56 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/10 22:37:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:37:56 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/10 22:38:21 INFO: [Worker 0] Warmed up parallel IK solver in 25.704s [base_object_manipulation_planner_policy.py: 377] +05/10 22:38:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:38:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:38:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:38:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.821s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:38:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.456[m] 80.606[deg] [grasp_sample.py: 539] +05/10 22:38:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:38:22 INFO: [Worker 0] Warmed up parallel IK solver in 25.911s [base_object_manipulation_planner_policy.py: 377] +05/10 22:38:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:38:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:38:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:38:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:38:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:38:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:38:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.431[m] 100.270[deg] [grasp_sample.py: 539] +05/10 22:38:23 INFO: [Worker 0] Warmed up parallel IK solver in 27.122s [base_object_manipulation_planner_policy.py: 377] +05/10 22:38:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:38:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:38:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:38:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:38:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:38:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:38:23 INFO: [Worker 0] Warmed up parallel IK solver in 27.232s [base_object_manipulation_planner_policy.py: 377] +05/10 22:38:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:38:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:38:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:38:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:38:24 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.356[m] 86.587[deg] [grasp_sample.py: 539] +05/10 22:38:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:38:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.454s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:38:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.530[m] 93.480[deg] [grasp_sample.py: 539] +05/10 22:38:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:38:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:38:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:38:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:38:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:38:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:39:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:39:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:39:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:39:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:39:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:39:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:39:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:39:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:39:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:39:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:39:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:39:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:39:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:39:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:39:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:39:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:39:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:39:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:39:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:39:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:39:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:39:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:39:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:39:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/10 22:39:51 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.457s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:39:51 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.146[deg] [grasp_sample.py: 539] +05/10 22:39:52 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/10 22:39:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:39:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:39:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:39:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:39:54 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] +05/10 22:39:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:39:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021442m [env.py: 870] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:39:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77004991 0.4076351 0.02144173] yaw=175.5deg [env.py: 1019] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92645745 0.34855867 0.02144173] yaw=172.3deg [env.py: 1019] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.979881 0.24180658 0.02144173] yaw=155.7deg [env.py: 1019] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:39:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=138.9ms, total=138.9ms [env.py: 1075] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.408, 0.021) [env.py: 1079] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.5 deg [env.py: 1082] +05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/10 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:39:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:39:54 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/10 22:39:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/10 22:39:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:39:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:39:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:39:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.472s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:39:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.528[m] 99.537[deg] [grasp_sample.py: 539] +05/10 22:39:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:39:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:39:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:40:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:40:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:40:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:40:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:40:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:40:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:40:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:40:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:40:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:40:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:40:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:40:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:40:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/10 22:40:16 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.414s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:40:16 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.799[deg] [grasp_sample.py: 539] +05/10 22:40:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:40:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:40:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:40:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:40:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:40:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:40:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:40:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:40:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:40:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:40:45 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:40:47 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:40:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:40:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:40:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:41:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:41:05 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:41:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/10 22:41:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:41:06 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:41:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/10 22:41:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:41:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:41:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:41:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:41:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:41:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.48s (batch: 3.95s, save: 11.53s) [pipeline.py: 300] +05/10 22:41:21 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.81s: + episode_total: mean=209.27s, total=209.27s, count=1, min=209268.9ms, max=209268.9ms + sensor_polling: mean=447.1ms, total=134.13s, count=300, min=392.4ms, max=684.7ms + save_trajectories: mean=11.53s, total=11.53s, count=1, min=11526.4ms, max=11526.4ms + physics_step: mean=20.8ms, total=6.24s, count=300, min=16.5ms, max=51.5ms + save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3952.0ms, max=3952.0ms + task_sampling: mean=3.81s, total=3.81s, count=1, min=3811.5ms, max=3811.5ms + scene_load: mean=3.23s, total=3.23s, count=1, min=3230.3ms, max=3230.3ms + scene_env_create: mean=1.86s, total=1.86s, count=1, min=1859.7ms, max=1859.7ms + scene_compile: mean=1.25s, total=1.25s, count=1, min=1247.8ms, max=1247.8ms + compile_mujoco: mean=734.6ms, total=734.6ms, count=1, min=734.6ms, max=734.6ms + task_specific_sample: mean=578.0ms, total=578.0ms, count=1, min=578.0ms, max=578.0ms + compile_xml_load: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms + scene_init: mean=70.9ms, total=70.9ms, count=1, min=70.9ms, max=70.9ms + compile_aux_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms + compile_aux_policy_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms + scene_asset_install: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms + asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms + compile_robot_add: mean=24.2ms, total=24.2ms, count=1, min=24.2ms, max=24.2ms + asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=452.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=47.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/10 22:41:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:41:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:41:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:41:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.61s (batch: 4.13s, save: 11.49s) [pipeline.py: 300] +05/10 22:41:22 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.60s: + episode_total: mean=210.29s, total=210.29s, count=1, min=210287.0ms, max=210287.0ms + sensor_polling: mean=445.8ms, total=133.73s, count=300, min=389.7ms, max=620.7ms + save_trajectories: mean=11.49s, total=11.49s, count=1, min=11488.3ms, max=11488.3ms + physics_step: mean=20.4ms, total=6.12s, count=300, min=14.6ms, max=42.8ms + save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4125.1ms, max=4125.1ms + task_sampling: mean=3.60s, total=3.60s, count=1, min=3601.2ms, max=3601.2ms + scene_load: mean=3.01s, total=3.01s, count=1, min=3008.3ms, max=3008.3ms + scene_env_create: mean=1.96s, total=1.96s, count=1, min=1964.4ms, max=1964.4ms + scene_compile: mean=911.5ms, total=911.5ms, count=1, min=911.5ms, max=911.5ms + compile_mujoco: mean=670.1ms, total=670.1ms, count=1, min=670.1ms, max=670.1ms + task_specific_sample: mean=590.0ms, total=590.0ms, count=1, min=590.0ms, max=590.0ms + compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms + scene_init: mean=90.1ms, total=90.1ms, count=1, min=90.1ms, max=90.1ms + compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms + compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms + scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms + asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms + compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms + asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=583.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=32.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/10 22:41:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:41:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:41:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:41:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:41:22 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] +05/10 22:41:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:41:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069805m [env.py: 870] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:41:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74322966 0.3503497 0.0698051 ] yaw=176.6deg [env.py: 1019] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91871736 1.06775905 0.0698051 ] yaw=-148.3deg [env.py: 1019] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7994066 0.63251105 0.0698051 ] yaw=-160.6deg [env.py: 1019] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:41:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.4ms, total=104.4ms [env.py: 1075] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.350, 0.070) [env.py: 1079] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.6 deg [env.py: 1082] +05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/10 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:41:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:41:23 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/10 22:41:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/10 22:41:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:41:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:41:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:41:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.538s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:41:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.538[m] 90.170[deg] [grasp_sample.py: 539] +05/10 22:41:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:41:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:41:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:41:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:41:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:41:24 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] +05/10 22:41:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:41:24 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] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082675m [env.py: 870] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:41:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03131307 1.32258643 0.0826748 ] yaw=-130.2deg [env.py: 1019] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94219337 0.51121627 0.0826748 ] yaw=-169.6deg [env.py: 1019] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84717076 0.06256661 0.0826748 ] yaw=162.7deg [env.py: 1019] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:41:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.5ms, total=107.5ms [env.py: 1075] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.031, 1.323, 0.083) [env.py: 1079] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.2 deg [env.py: 1082] +05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/10 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:41:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:41:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:41:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:41:24 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/10 22:41:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/10 22:41:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:41:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:41:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:41:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:41:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.462s, found feasible grasp: False [grasp_sample.py: 500] +05/10 22:41:26 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/10 22:41:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:41:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:41:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:41:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:41:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:41:27 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] +05/10 22:41:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:41:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053487m [env.py: 870] +05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:41:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99662649 1.29881911 0.05348663] yaw=-127.7deg [env.py: 1019] +05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:41:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:41:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.7ms, total=160.7ms [env.py: 1075] +05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.997, 1.299, 0.053) [env.py: 1079] +05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.7 deg [env.py: 1082] +05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/10 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:41:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:41:28 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/10 22:41:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/10 22:41:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:41:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:41:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:41:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:41:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:41:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:41:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:41:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:41:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/10 22:41:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.444s, found feasible grasp: False [grasp_sample.py: 500] +05/10 22:41:29 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/10 22:41:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:41:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:41:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:41:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:41:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:41:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:41:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:41:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:41:31 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] +05/10 22:41:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:41:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034665m [env.py: 870] +05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:41:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00444517 1.09810385 0.03466466] yaw=-136.6deg [env.py: 1019] +05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69702867 0.40498994 0.03466466] yaw=167.6deg [env.py: 1019] +05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96258832 0.89332976 0.03466466] yaw=-141.3deg [env.py: 1019] +05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:41:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.4ms [env.py: 1075] +05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.004, 1.098, 0.035) [env.py: 1079] +05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.6 deg [env.py: 1082] +05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/10 22:41:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:41:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:41:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:41:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:41:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:41:31 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/10 22:41:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/10 22:41:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:41:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:41:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:41:31 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.543s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:41:31 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.247[deg] [grasp_sample.py: 539] +05/10 22:41:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:41:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:41:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:41:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.112s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:41:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.532[m] 93.987[deg] [grasp_sample.py: 539] +05/10 22:41:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:41:34 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:41:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:41:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:41:56 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:41:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/10 22:41:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:42:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:42:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:42:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.99s (batch: 3.94s, save: 8.06s) [pipeline.py: 300] +05/10 22:42:09 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.56s: + episode_total: mean=256.26s, total=256.26s, count=1, min=256257.0ms, max=256257.0ms + sensor_polling: mean=446.0ms, total=133.81s, count=300, min=391.7ms, max=671.8ms + save_trajectories: mean=8.06s, total=8.06s, count=1, min=8055.6ms, max=8055.6ms + physics_step: mean=21.2ms, total=6.37s, count=300, min=12.4ms, max=39.1ms + save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3939.2ms, max=3939.2ms + task_sampling: mean=3.56s, total=3.56s, count=1, min=3555.9ms, max=3555.9ms + scene_load: mean=2.70s, total=2.70s, count=1, min=2702.9ms, max=2702.9ms + scene_env_create: mean=1.73s, total=1.73s, count=1, min=1729.4ms, max=1729.4ms + task_specific_sample: mean=850.2ms, total=850.2ms, count=1, min=850.2ms, max=850.2ms + scene_compile: mean=746.1ms, total=746.1ms, count=1, min=746.1ms, max=746.1ms + compile_mujoco: mean=513.8ms, total=513.8ms, count=1, min=513.8ms, max=513.8ms + scene_init: mean=188.0ms, total=188.0ms, count=1, min=188.0ms, max=188.0ms + compile_xml_load: mean=158.0ms, total=158.0ms, count=1, min=158.0ms, max=158.0ms + compile_aux_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms + compile_aux_policy_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms + scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms + asset_install_grasps: mean=27.9ms, total=27.9ms, count=1, min=27.9ms, max=27.9ms + compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms + asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms + asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=523.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/10 22:42:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:42:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:42:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:42:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:42:10 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] +05/10 22:42:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:42:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062488m [env.py: 870] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:42:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84912958 0.82217829 0.06248755] yaw=-158.4deg [env.py: 1019] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83685984 0.99070552 0.06248755] yaw=-143.6deg [env.py: 1019] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.69935673 0.1111107 0.06248755] yaw=160.0deg [env.py: 1019] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:42:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.0ms, total=184.0ms [env.py: 1075] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.849, 0.822, 0.062) [env.py: 1079] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg [env.py: 1082] +05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/10 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:42:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:42:11 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/10 22:42:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/10 22:42:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:42:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:42:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:42:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:42:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.501[m] 91.863[deg] [grasp_sample.py: 539] +05/10 22:42:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:42:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:42:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:42:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:42:23 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:42:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:42:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:42:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:42:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:42:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:42:45 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:42:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/10 22:42:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:42:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:42:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:42:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.25s (batch: 4.06s, save: 8.20s) [pipeline.py: 300] +05/10 22:42:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:42:58 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.24s: + episode_total: mean=152.08s, total=304.17s, count=2, min=119975.1ms, max=184194.8ms + sensor_polling: mean=449.8ms, total=210.49s, count=468, min=378.7ms, max=725.8ms + physics_step: mean=20.8ms, total=9.72s, count=468, min=15.1ms, max=68.3ms + save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.2ms, max=8195.2ms + task_sampling: mean=2.12s, total=4.24s, count=2, min=385.0ms, max=3854.6ms + save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4057.5ms, max=4057.5ms + scene_load: mean=2.79s, total=2.79s, count=1, min=2786.8ms, max=2786.8ms + scene_env_create: mean=1.73s, total=1.73s, count=1, min=1727.6ms, max=1727.6ms + task_specific_sample: mean=722.9ms, total=1.45s, count=2, min=381.9ms, max=1063.9ms + scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms + compile_mujoco: mean=576.3ms, total=576.3ms, count=1, min=576.3ms, max=576.3ms + scene_asset_install: mean=143.8ms, total=143.8ms, count=1, min=143.8ms, max=143.8ms + compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms + scene_init: mean=141.3ms, total=141.3ms, count=1, min=141.3ms, max=141.3ms + asset_install_grasps: mean=78.6ms, total=78.6ms, count=1, min=78.6ms, max=78.6ms + asset_install_objects: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms + compile_aux_objects: mean=39.7ms, total=39.7ms, count=1, min=39.7ms, max=39.7ms + compile_aux_policy_objects: mean=39.6ms, total=39.6ms, count=1, min=39.6ms, max=39.6ms + asset_install_scene: mean=25.3ms, total=25.3ms, count=1, min=25.3ms, max=25.3ms + compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.2ms, max=1.7ms + mj_forward_sync: mean=516.3us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=34.5us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/10 22:43:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:43:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:43:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:43:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:43:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:43:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:43:00 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] +05/10 22:43:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:43:00 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] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025142m [env.py: 870] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:43:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94112882 0.74785383 0.02514232] yaw=-161.4deg [env.py: 1019] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85778318 0.07358061 0.02514232] yaw=154.1deg [env.py: 1019] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70319029 0.38667033 0.02514232] yaw=179.8deg [env.py: 1019] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:43:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.7ms, total=189.8ms [env.py: 1075] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.748, 0.025) [env.py: 1079] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.4 deg [env.py: 1082] +05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/10 22:43:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:43:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:43:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:43:00 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/10 22:43:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/10 22:43:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:43:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:43:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:43:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.506s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:43:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.359[m] 90.090[deg] [grasp_sample.py: 539] +05/10 22:43:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:43:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:43:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:43:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:43:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:43:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:43:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:43:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:43:52 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:43:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:43:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:43:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:43:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:43:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:44:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:44:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:44:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:44:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:44:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:44:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:44:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:44:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/10 22:44:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.480s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:44:05 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.102[m] 4.205[deg] [grasp_sample.py: 539] +05/10 22:44:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:44:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:44:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:44:11 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:44:12 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:44:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/10 22:44:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:44:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:44:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:44:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.11s (batch: 3.63s, save: 11.48s) [pipeline.py: 300] +05/10 22:44:28 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.38s: + episode_total: mean=185.35s, total=185.35s, count=1, min=185352.6ms, max=185352.6ms + sensor_polling: mean=462.9ms, total=138.86s, count=300, min=403.9ms, max=719.3ms + save_trajectories: mean=11.48s, total=11.48s, count=1, min=11479.1ms, max=11479.1ms + physics_step: mean=21.4ms, total=6.41s, count=300, min=16.7ms, max=70.7ms + save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3630.6ms, max=3630.6ms + task_sampling: mean=375.9ms, total=375.9ms, count=1, min=375.9ms, max=375.9ms + task_specific_sample: mean=372.7ms, total=372.7ms, count=1, min=372.7ms, max=372.7ms + scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + mj_forward_sync: mean=380.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=23.2us, 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] +05/10 22:44:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:44:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:44:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:44:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:44:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:44:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:44:29 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] +05/10 22:44:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:44:29 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] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053927m [env.py: 870] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:44:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84109265 0.7461015 0.05392742] yaw=-165.7deg [env.py: 1019] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72208242 0.715298 0.05392742] yaw=-164.1deg [env.py: 1019] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9192184 0.93208711 0.05392742] yaw=-145.9deg [env.py: 1019] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:44:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.8ms, total=125.8ms [env.py: 1075] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.746, 0.054) [env.py: 1079] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.7 deg [env.py: 1082] +05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/10 22:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:44:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:44:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:44:30 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/10 22:44:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/10 22:44:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:44:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:44:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:44:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.639s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:44:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.413[m] 78.092[deg] [grasp_sample.py: 539] +05/10 22:44:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:44:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:44:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:44:36 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:44:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/10 22:44:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:44:41 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:44:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:44:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:44:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.96s (batch: 3.89s, save: 8.07s) [pipeline.py: 300] +05/10 22:44:48 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.07s: + episode_total: mean=67.18s, total=201.55s, count=3, min=1904.3ms, max=197672.3ms + sensor_polling: mean=457.8ms, total=137.35s, count=300, min=397.3ms, max=787.0ms + save_trajectories: mean=8.07s, total=8.07s, count=1, min=8067.5ms, max=8067.5ms + physics_step: mean=20.6ms, total=6.19s, count=300, min=13.8ms, max=37.5ms + save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3894.9ms, max=3894.9ms + task_sampling: mean=356.4ms, total=1.07s, count=3, min=329.9ms, max=373.6ms + task_specific_sample: mean=353.1ms, total=1.06s, count=3, min=327.2ms, max=370.4ms + scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.3ms, max=2.5ms + mj_forward_sync: mean=532.0us, total=1.6ms, count=3, min=0.5ms, max=0.5ms + policy_setup: mean=20.5us, 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] +05/10 22:44:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:44:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:44:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:44:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:44:50 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] +05/10 22:44:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:44:50 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] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011745m [env.py: 870] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:44:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95274897 0.65035203 0.01174507] yaw=-166.4deg [env.py: 1019] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7719951 0.50098328 0.01174507] yaw=-176.0deg [env.py: 1019] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94010605 0.71200432 0.01174507] yaw=-159.4deg [env.py: 1019] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:44:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.4ms, total=164.4ms [env.py: 1075] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.650, 0.012) [env.py: 1079] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.4 deg [env.py: 1082] +05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.768m [env.py: 1086] +05/10 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:44:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:44:50 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/10 22:44:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/10 22:44:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:44:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:44:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:44:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.193s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:44:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.364[m] 96.025[deg] [grasp_sample.py: 539] +05/10 22:44:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:44:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:44:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:45:03 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:45:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/10 22:45:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:45:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:45:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:45:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:45:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.56s (batch: 3.89s, save: 7.67s) [pipeline.py: 300] +05/10 22:45:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:45:16 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.46s: + episode_total: mean=185.40s, total=185.40s, count=1, min=185395.5ms, max=185395.5ms + sensor_polling: mean=465.7ms, total=139.72s, count=300, min=393.8ms, max=791.0ms + save_trajectories: mean=7.67s, total=7.67s, count=1, min=7672.3ms, max=7672.3ms + physics_step: mean=21.6ms, total=6.49s, count=300, min=14.7ms, max=56.4ms + save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3887.5ms, max=3887.5ms + task_sampling: mean=458.2ms, total=458.2ms, count=1, min=458.2ms, max=458.2ms + task_specific_sample: mean=454.6ms, total=454.6ms, count=1, min=454.6ms, max=454.6ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=371.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.7us, 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] +05/10 22:45:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:45:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:45:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:45:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:45:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:45:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:45:17 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] +05/10 22:45:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:45:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080446m [env.py: 870] +05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:45:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74332363 0.88131775 0.0804458 ] yaw=-163.3deg [env.py: 1019] +05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77955304 0.88389665 0.0804458 ] yaw=-166.1deg [env.py: 1019] +05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91861268 0.37051115 0.0804458 ] yaw=161.9deg [env.py: 1019] +05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:45:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.1ms, total=92.1ms [env.py: 1075] +05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.881, 0.080) [env.py: 1079] +05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.3 deg [env.py: 1082] +05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/10 22:45:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:45:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:45:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:45:18 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/10 22:45:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/10 22:45:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:45:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:45:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:45:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.440s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:45:19 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.652[m] 92.845[deg] [grasp_sample.py: 539] +05/10 22:45:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:45:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:45:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:45:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:45:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:45:26 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:45:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:45:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:45:43 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:45:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/10 22:45:43 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/10 22:45:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:45:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:45:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.74s (batch: 3.79s, save: 9.95s) [pipeline.py: 300] +05/10 22:45:58 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.49s: + episode_total: mean=178.09s, total=178.09s, count=1, min=178088.1ms, max=178088.1ms + sensor_polling: mean=462.1ms, total=135.41s, count=293, min=389.1ms, max=830.4ms + save_trajectories: mean=9.95s, total=9.95s, count=1, min=9948.8ms, max=9948.8ms + physics_step: mean=21.7ms, total=6.35s, count=293, min=13.5ms, max=68.7ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3787.6ms, max=3787.6ms + task_sampling: mean=487.9ms, total=487.9ms, count=1, min=487.9ms, max=487.9ms + task_specific_sample: mean=483.4ms, total=483.4ms, count=1, min=483.4ms, max=483.4ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=611.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=23.3us, 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] +05/10 22:45:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:45:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:45:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:45:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:45:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:45:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:45:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:45:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:45:59 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] +05/10 22:45:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:45:59 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] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085114m [env.py: 870] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:45:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0381564 1.2504275 0.08511438] yaw=-120.9deg [env.py: 1019] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00353208 1.29448249 0.08511438] yaw=-137.3deg [env.py: 1019] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.65847062 0.43426079 0.08511438] yaw=185.1deg [env.py: 1019] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:45:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=253.7ms, total=253.7ms [env.py: 1075] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.038, 1.250, 0.085) [env.py: 1079] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.9 deg [env.py: 1082] +05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/10 22:45:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:45:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:45:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:45:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:46:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:46:00 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/10 22:46:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/10 22:46:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:46:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:46:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:46:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.524s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:46:02 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.651[m] 97.704[deg] [grasp_sample.py: 539] +05/10 22:46:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:46:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:46:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:46:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:46:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:46:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:46:55 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:47:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:47:17 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:47:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:47:19 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:47:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/10 22:47:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:47:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:47:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:47:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:47:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.08s (batch: 3.79s, save: 9.29s) [pipeline.py: 300] +05/10 22:47:33 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.41s: + episode_total: mean=183.57s, total=183.57s, count=1, min=183573.3ms, max=183573.3ms + sensor_polling: mean=452.1ms, total=135.63s, count=300, min=389.3ms, max=803.7ms + save_trajectories: mean=9.29s, total=9.29s, count=1, min=9294.3ms, max=9294.3ms + physics_step: mean=20.5ms, total=6.16s, count=300, min=13.5ms, max=46.0ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3788.0ms, max=3788.0ms + task_sampling: mean=412.6ms, total=412.6ms, count=1, min=412.6ms, max=412.6ms + task_specific_sample: mean=409.1ms, total=409.1ms, count=1, min=409.1ms, max=409.1ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=422.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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] +05/10 22:47:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:47:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:47:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:47:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:47:35 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] +05/10 22:47:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:47:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000316m [env.py: 870] +05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:47:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-7.08560818e-01 9.27606655e-01 3.16318320e-04] yaw=-160.8deg [env.py: 1019] +05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.45774684e-01 1.64604241e-01 3.16318320e-04] yaw=162.6deg [env.py: 1019] +05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:47:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=378.1ms, total=378.1ms [env.py: 1075] +05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.709, 0.928, 0.000) [env.py: 1079] +05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.8 deg [env.py: 1082] +05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m [env.py: 1086] +05/10 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:47:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:47:36 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/10 22:47:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.193s [base_object_manipulation_planner_policy.py: 377] +05/10 22:47:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:47:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:47:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:47:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.056s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:47:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.685[m] 91.623[deg] [grasp_sample.py: 539] +05/10 22:47:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:47:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:47:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:47:41 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:47:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/10 22:47:41 INFO: [Worker 0] Preparing episode data: 297 timesteps [save_utils.py: 278] +05/10 22:47:45 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:47:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:47:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:47:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.91s (batch: 3.85s, save: 8.06s) [pipeline.py: 300] +05/10 22:47:53 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.44s: + episode_total: mean=183.46s, total=183.46s, count=1, min=183457.6ms, max=183457.6ms + sensor_polling: mean=454.1ms, total=134.42s, count=296, min=402.9ms, max=798.1ms + save_trajectories: mean=8.06s, total=8.06s, count=1, min=8060.7ms, max=8060.7ms + physics_step: mean=20.6ms, total=6.11s, count=296, min=16.9ms, max=50.9ms + save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3849.4ms, max=3849.4ms + task_sampling: mean=436.8ms, total=436.8ms, count=1, min=436.8ms, max=436.8ms + task_specific_sample: mean=432.8ms, total=432.8ms, count=1, min=432.8ms, max=432.8ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=464.2us, 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] +05/10 22:47:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:47:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:47:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:47:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:47:55 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] +05/10 22:47:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:47:55 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] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064826m [env.py: 870] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:47:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77909908 0.36449058 0.06482625] yaw=169.0deg [env.py: 1019] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00905642 0.84973933 0.06482625] yaw=-150.6deg [env.py: 1019] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.17034042 1.06685253 0.06482625] yaw=-143.2deg [env.py: 1019] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:47:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.1ms, total=125.1ms [env.py: 1075] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.364, 0.065) [env.py: 1079] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.0 deg [env.py: 1082] +05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/10 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:47:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:47:55 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/10 22:47:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/10 22:47:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:47:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:47:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:47:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:47:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.476[m] 88.074[deg] [grasp_sample.py: 539] +05/10 22:47:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:47:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:47:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:48:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:48:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:48:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:48:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:48:08 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:48:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/10 22:48:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:48:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:48:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:48:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:48:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:48:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:48:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:48:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:48:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:48:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/10 22:48:14 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.392s, found feasible grasp: False [grasp_sample.py: 500] +05/10 22:48:14 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/10 22:48:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:48:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:48:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:48:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:48:16 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] +05/10 22:48:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:48:16 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] +05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092709m [env.py: 870] +05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:48:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01385239 0.94937734 0.09270903] yaw=-137.3deg [env.py: 1019] +05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90951962 1.15564395 0.09270903] yaw=-132.7deg [env.py: 1019] +05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:48:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=138.4ms, total=138.4ms [env.py: 1075] +05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.014, 0.949, 0.093) [env.py: 1079] +05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg [env.py: 1082] +05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/10 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:48:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:48:16 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/10 22:48:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/10 22:48:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:48:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:48:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:48:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:48:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.422[m] 91.780[deg] [grasp_sample.py: 539] +05/10 22:48:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:48:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:48:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:48:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:48:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:48:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.06s (batch: 4.11s, save: 7.95s) [pipeline.py: 300] +05/10 22:48:21 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.38s: + episode_total: mean=183.60s, total=183.60s, count=1, min=183599.9ms, max=183599.9ms + sensor_polling: mean=455.9ms, total=136.77s, count=300, min=393.8ms, max=963.5ms + save_trajectories: mean=7.95s, total=7.95s, count=1, min=7950.8ms, max=7950.8ms + physics_step: mean=21.0ms, total=6.30s, count=300, min=14.2ms, max=65.7ms + save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4112.9ms, max=4112.9ms + task_sampling: mean=378.2ms, total=378.2ms, count=1, min=378.2ms, max=378.2ms + task_specific_sample: mean=374.8ms, total=374.8ms, count=1, min=374.8ms, max=374.8ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=369.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=26.3us, 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] +05/10 22:48:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:48:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:48:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:48:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:48:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:48:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:48:22 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] +05/10 22:48:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:48:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070918m [env.py: 870] +05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:48:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05710602 0.89610096 0.07091844] yaw=-147.9deg [env.py: 1019] +05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.13941578 1.03785513 0.07091844] yaw=-135.9deg [env.py: 1019] +05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88699984 0.40017386 0.07091844] yaw=170.7deg [env.py: 1019] +05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:48:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.8ms, total=92.8ms [env.py: 1075] +05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.057, 0.896, 0.071) [env.py: 1079] +05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.9 deg [env.py: 1082] +05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.767m [env.py: 1086] +05/10 22:48:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:48:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:48:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:48:23 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/10 22:48:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/10 22:48:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:48:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:48:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:48:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:48:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.362[m] 86.630[deg] [grasp_sample.py: 539] +05/10 22:48:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:48:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:48:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:48:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:48:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:48:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:48:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:48:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:48:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:48:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:48:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:49:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:49:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:49:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:49:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:50:03 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:50:25 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:50:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/10 22:50:25 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:50:26 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:50:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:50:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:50:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 14.69s (batch: 4.41s, save: 10.28s) [pipeline.py: 300] +05/10 22:50:40 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:50:40 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.72s: + episode_total: mean=185.62s, total=185.62s, count=1, min=185620.2ms, max=185620.2ms + sensor_polling: mean=450.2ms, total=135.06s, count=300, min=380.9ms, max=737.1ms + save_trajectories: mean=10.28s, total=10.28s, count=1, min=10282.3ms, max=10282.3ms + physics_step: mean=20.3ms, total=6.09s, count=300, min=16.5ms, max=50.7ms + save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4410.1ms, max=4410.1ms + task_sampling: mean=719.5ms, total=719.5ms, count=1, min=719.5ms, max=719.5ms + task_specific_sample: mean=715.5ms, total=715.5ms, count=1, min=715.5ms, max=715.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=467.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=28.8us, 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] +05/10 22:50:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:50:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:50:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:50:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:50:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:50:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:50:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:50:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:50:42 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] +05/10 22:50:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:50:42 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] +05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076326m [env.py: 870] +05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:50:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85500155 0.81926386 0.07632642] yaw=-153.6deg [env.py: 1019] +05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74657561 -0.00077965 0.07632642] yaw=148.7deg [env.py: 1019] +05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81050812 0.21720884 0.07632642] yaw=164.7deg [env.py: 1019] +05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:50:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.1ms, total=156.2ms [env.py: 1075] +05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.819, 0.076) [env.py: 1079] +05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.6 deg [env.py: 1082] +05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/10 22:50:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:50:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:50:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:50:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:50:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:50:43 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/10 22:50:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/10 22:50:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:50:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:50:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:50:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.504s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:50:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.506[m] 97.464[deg] [grasp_sample.py: 539] +05/10 22:50:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:50:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:50:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:50:46 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:50:50 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:50:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/10 22:50:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:51:02 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:51:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/10 22:51:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:51:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:51:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:51:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.12s (batch: 4.15s, save: 8.97s) [pipeline.py: 300] +05/10 22:51:04 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.37s: + episode_total: mean=189.11s, total=189.11s, count=1, min=189108.5ms, max=189108.5ms + sensor_polling: mean=454.9ms, total=136.48s, count=300, min=391.7ms, max=707.5ms + save_trajectories: mean=8.97s, total=8.97s, count=1, min=8969.2ms, max=8969.2ms + physics_step: mean=22.8ms, total=6.84s, count=300, min=15.7ms, max=74.1ms + save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4147.4ms, max=4147.4ms + task_sampling: mean=371.2ms, total=371.2ms, count=1, min=371.2ms, max=371.2ms + task_specific_sample: mean=366.8ms, total=366.8ms, count=1, min=366.8ms, max=366.8ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=566.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.9us, 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] +05/10 22:51:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:51:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:51:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:51:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:51:06 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] +05/10 22:51:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:51:06 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] +05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063214m [env.py: 870] +05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:51:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78178268 0.16125427 0.06321395] yaw=171.3deg [env.py: 1019] +05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98684736 1.11021565 0.06321395] yaw=-148.9deg [env.py: 1019] +05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:51:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=271.2ms, total=271.3ms [env.py: 1075] +05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.161, 0.063) [env.py: 1079] +05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.3 deg [env.py: 1082] +05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/10 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:51:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:51:06 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/10 22:51:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/10 22:51:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:51:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:51:06 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:51:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/10 22:51:06 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/10 22:51:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:51:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.270s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:51:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.554[m] 93.872[deg] [grasp_sample.py: 539] +05/10 22:51:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:51:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:51:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:51:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:51:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:51:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.67s (batch: 4.36s, save: 8.32s) [pipeline.py: 300] +05/10 22:51:15 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.87s: + episode_total: mean=157.25s, total=314.50s, count=2, min=134986.1ms, max=179517.8ms + sensor_polling: mean=451.3ms, total=245.93s, count=545, min=381.4ms, max=789.2ms + physics_step: mean=21.1ms, total=11.48s, count=545, min=13.9ms, max=76.5ms + save_trajectories: mean=8.32s, total=8.32s, count=1, min=8318.7ms, max=8318.7ms + save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4355.6ms, max=4355.6ms + task_sampling: mean=436.7ms, total=873.5ms, count=2, min=359.4ms, max=514.0ms + task_specific_sample: mean=433.5ms, total=866.9ms, count=2, min=356.4ms, max=510.5ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.5ms, max=2.3ms + mj_forward_sync: mean=378.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=20.6us, 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] +05/10 22:51:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:51:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:51:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:51:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:51:17 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] +05/10 22:51:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:51:17 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] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031139m [env.py: 870] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:51:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82862913 0.54912305 0.03113898] yaw=-174.0deg [env.py: 1019] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79218234 0.34733954 0.03113898] yaw=181.2deg [env.py: 1019] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81726392 0.72876498 0.03113898] yaw=-170.0deg [env.py: 1019] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:51:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.2ms, total=131.3ms [env.py: 1075] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.549, 0.031) [env.py: 1079] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.0 deg [env.py: 1082] +05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/10 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:51:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:51:17 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/10 22:51:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/10 22:51:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:51:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:51:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:51:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.445s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:51:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.412[m] 90.149[deg] [grasp_sample.py: 539] +05/10 22:51:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:51:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:51:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:51:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:51:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:51:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.13s (batch: 4.20s, save: 7.93s) [pipeline.py: 300] +05/10 22:51:19 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.34s: + episode_total: mean=176.93s, total=176.93s, count=1, min=176932.7ms, max=176932.7ms + sensor_polling: mean=454.7ms, total=133.23s, count=293, min=388.2ms, max=659.3ms + save_trajectories: mean=7.93s, total=7.93s, count=1, min=7926.3ms, max=7926.3ms + physics_step: mean=21.2ms, total=6.20s, count=293, min=13.9ms, max=59.0ms + save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4201.9ms, max=4201.9ms + task_sampling: mean=341.3ms, total=341.3ms, count=1, min=341.3ms, max=341.3ms + task_specific_sample: mean=337.7ms, total=337.7ms, count=1, min=337.7ms, max=337.7ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=391.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=27.1us, 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] +05/10 22:51:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:51:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:51:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:51:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:51:21 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] +05/10 22:51:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:51:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028664m [env.py: 870] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:51:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89576796 0.355235 0.02866437] yaw=168.6deg [env.py: 1019] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96220708 0.33619873 0.02866437] yaw=170.7deg [env.py: 1019] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:51:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=160.9ms, total=160.9ms [env.py: 1075] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.355, 0.029) [env.py: 1079] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.6 deg [env.py: 1082] +05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m [env.py: 1086] +05/10 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:51:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:51:21 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/10 22:51:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/10 22:51:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:51:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:51:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:51:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.420s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:51:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.357[m] 88.693[deg] [grasp_sample.py: 539] +05/10 22:51:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:51:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:51:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:51:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:51:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:51:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:51:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:51:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:51:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:52:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:52:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:52:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:52:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:52:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:52:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:53:08 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:53:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:53:29 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:53:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/10 22:53:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:53:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:53:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:53:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:53:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:53:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:53:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:53:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:53:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:53:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 14.05s (batch: 4.29s, save: 9.76s) [pipeline.py: 300] +05/10 22:53:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:53:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:53:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:53:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:53:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:53:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/10 22:53:44 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.480s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:53:44 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.706[deg] [grasp_sample.py: 539] +05/10 22:53:44 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s: + episode_total: mean=181.76s, total=181.76s, count=1, min=181764.5ms, max=181764.5ms + sensor_polling: mean=450.8ms, total=135.25s, count=300, min=373.8ms, max=662.3ms + save_trajectories: mean=9.76s, total=9.76s, count=1, min=9763.9ms, max=9763.9ms + physics_step: mean=20.6ms, total=6.18s, count=300, min=13.5ms, max=41.4ms + save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4287.9ms, max=4287.9ms + task_sampling: mean=465.4ms, total=465.4ms, count=1, min=465.4ms, max=465.4ms + task_specific_sample: mean=460.5ms, total=460.5ms, count=1, min=460.5ms, max=460.5ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=619.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=30.7us, 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] +05/10 22:53:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:53:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:53:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:53:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:53:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:53:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:53:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:53:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:53:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:53:46 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] +05/10 22:53:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:53:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042417m [env.py: 870] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:53:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82315677 0.05033498 0.04241678] yaw=150.5deg [env.py: 1019] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84923007 0.39191628 0.04241678] yaw=184.9deg [env.py: 1019] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00853221 0.17194942 0.04241678] yaw=159.3deg [env.py: 1019] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:53:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.6ms, total=135.6ms [env.py: 1075] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.050, 0.042) [env.py: 1079] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.5 deg [env.py: 1082] +05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/10 22:53:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:53:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:53:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:53:46 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/10 22:53:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/10 22:53:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:53:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:53:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:53:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:53:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.455s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:53:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.545[m] 85.455[deg] [grasp_sample.py: 539] +05/10 22:53:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:53:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:53:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:53:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:53:48 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:53:48 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:53:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:53:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:53:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:53:57 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:54:10 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:54:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/10 22:54:10 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/10 22:54:10 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:54:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/10 22:54:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:54:19 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:54:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/10 22:54:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:54:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:54:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:54:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.44s (batch: 3.87s, save: 7.58s) [pipeline.py: 300] +05/10 22:54:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:54:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:54:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.82s (batch: 4.03s, save: 7.78s) [pipeline.py: 300] +05/10 22:54:22 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.38s: + episode_total: mean=185.37s, total=185.37s, count=1, min=185374.8ms, max=185374.8ms + sensor_polling: mean=457.4ms, total=137.22s, count=300, min=390.8ms, max=774.2ms + save_trajectories: mean=7.58s, total=7.58s, count=1, min=7579.9ms, max=7579.9ms + physics_step: mean=22.9ms, total=6.88s, count=300, min=14.8ms, max=49.2ms + save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3865.1ms, max=3865.1ms + task_sampling: mean=375.6ms, total=375.6ms, count=1, min=375.6ms, max=375.6ms + task_specific_sample: mean=372.3ms, total=372.3ms, count=1, min=372.3ms, max=372.3ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=376.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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] +05/10 22:54:22 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.46s: + episode_total: mean=181.64s, total=181.64s, count=1, min=181642.4ms, max=181642.4ms + sensor_polling: mean=459.8ms, total=134.26s, count=292, min=394.5ms, max=689.1ms + save_trajectories: mean=7.78s, total=7.78s, count=1, min=7784.9ms, max=7784.9ms + physics_step: mean=23.4ms, total=6.82s, count=292, min=14.0ms, max=44.2ms + save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4032.5ms, max=4032.5ms + task_sampling: mean=462.3ms, total=462.3ms, count=1, min=462.3ms, max=462.3ms + task_specific_sample: mean=458.7ms, total=458.7ms, count=1, min=458.7ms, max=458.7ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=408.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=24.8us, 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] +05/10 22:54:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:54:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:54:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:54:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:54:24 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] +05/10 22:54:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:54:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052019m [env.py: 870] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:54:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6983695 0.57458565 0.05201897] yaw=-182.9deg [env.py: 1019] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96967141 1.27976617 0.05201897] yaw=-138.1deg [env.py: 1019] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.21259144 1.09120141 0.05201897] yaw=-135.5deg [env.py: 1019] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:54:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.9ms, total=166.9ms [env.py: 1075] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.575, 0.052) [env.py: 1079] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.9 deg [env.py: 1082] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:54:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:54:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:54:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:54:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:54:24 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] +05/10 22:54:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:54:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047876m [env.py: 870] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:54:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99269261 0.79604298 0.04787647] yaw=-167.5deg [env.py: 1019] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87403229 0.14618019 0.04787647] yaw=154.6deg [env.py: 1019] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8901033 0.81030715 0.04787647] yaw=-165.4deg [env.py: 1019] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:54:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.1ms, total=197.2ms [env.py: 1075] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.993, 0.796, 0.048) [env.py: 1079] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg [env.py: 1082] +05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m [env.py: 1086] +05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:54:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:54:24 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/10 22:54:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/10 22:54:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:54:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:54:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:54:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:54:24 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/10 22:54:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/10 22:54:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:54:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:54:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:54:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.475s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:54:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.602[m] 99.897[deg] [grasp_sample.py: 539] +05/10 22:54:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:54:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.460s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:54:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.349[m] 88.841[deg] [grasp_sample.py: 539] +05/10 22:54:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:54:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:54:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:54:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:54:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:54:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:54:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:54:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.85s (batch: 3.91s, save: 7.94s) [pipeline.py: 300] +05/10 22:54:31 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.54s: + episode_total: mean=205.42s, total=205.42s, count=1, min=205423.5ms, max=205423.5ms + sensor_polling: mean=458.9ms, total=137.66s, count=300, min=395.2ms, max=616.5ms + save_trajectories: mean=7.94s, total=7.94s, count=1, min=7938.5ms, max=7938.5ms + physics_step: mean=22.2ms, total=6.65s, count=300, min=11.9ms, max=56.9ms + save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3911.6ms, max=3911.6ms + task_sampling: mean=538.9ms, total=538.9ms, count=1, min=538.9ms, max=538.9ms + task_specific_sample: mean=534.9ms, total=534.9ms, count=1, min=534.9ms, max=534.9ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=611.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + 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] +05/10 22:54:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:54:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:54:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:54:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:54:33 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] +05/10 22:54:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:54:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098529m [env.py: 870] +05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:54:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.68605572 0.29087067 0.09852885] yaw=168.9deg [env.py: 1019] +05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:54:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.9ms, total=254.0ms [env.py: 1075] +05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.686, 0.291, 0.099) [env.py: 1079] +05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg [env.py: 1082] +05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/10 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:54:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:54:33 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/10 22:54:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/10 22:54:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:54:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:54:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:54:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:54:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.563[m] 89.226[deg] [grasp_sample.py: 539] +05/10 22:54:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:54:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:54:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:54:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:54:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:54:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:54:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:55:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:55:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:55:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:55:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:55:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:55:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:55:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:55:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:56:08 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:56:26 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:56:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/10 22:56:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:56:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:56:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:56:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.41s (batch: 3.74s, save: 7.67s) [pipeline.py: 300] +05/10 22:56:38 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:56:38 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.41s: + episode_total: mean=172.63s, total=172.63s, count=1, min=172633.2ms, max=172633.2ms + sensor_polling: mean=435.3ms, total=130.59s, count=300, min=384.6ms, max=680.9ms + save_trajectories: mean=7.67s, total=7.67s, count=1, min=7671.2ms, max=7671.2ms + physics_step: mean=19.6ms, total=5.88s, count=300, min=13.5ms, max=29.6ms + save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3739.2ms, max=3739.2ms + task_sampling: mean=407.8ms, total=407.8ms, count=1, min=407.8ms, max=407.8ms + task_specific_sample: mean=403.3ms, total=403.3ms, count=1, min=403.3ms, max=403.3ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=556.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + 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] +05/10 22:56:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:56:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:56:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:56:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:56:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:56:40 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] +05/10 22:56:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:56:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094944m [env.py: 870] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:56:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79805251 0.63517966 0.09494403] yaw=-159.9deg [env.py: 1019] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90917446 0.64951736 0.09494403] yaw=-166.1deg [env.py: 1019] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.80964404 0.92431605 0.09494403] yaw=-160.4deg [env.py: 1019] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:56:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.1ms, total=159.2ms [env.py: 1075] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.635, 0.095) [env.py: 1079] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg [env.py: 1082] +05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/10 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:56:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:56:40 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/10 22:56:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/10 22:56:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:56:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:56:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:56:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.463s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:56:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.464[m] 83.454[deg] [grasp_sample.py: 539] +05/10 22:56:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:56:41 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:56:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:56:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:56:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:56:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:56:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:56:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:56:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:56:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:56:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:56:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:56:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:56:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:56:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:56:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/10 22:56:50 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.347s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:56:50 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.486[deg] [grasp_sample.py: 539] +05/10 22:56:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:56:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:56:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:56:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:56:57 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:56:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/10 22:56:57 INFO: [Worker 0] Preparing episode data: 291 timesteps [save_utils.py: 278] +05/10 22:57:00 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:57:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/10 22:57:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:57:04 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:57:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:57:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:57:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.66s (batch: 4.03s, save: 7.63s) [pipeline.py: 300] +05/10 22:57:09 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.45s: + episode_total: mean=165.09s, total=165.09s, count=1, min=165091.7ms, max=165091.7ms + sensor_polling: mean=431.8ms, total=125.22s, count=290, min=402.0ms, max=664.8ms + save_trajectories: mean=7.63s, total=7.63s, count=1, min=7631.4ms, max=7631.4ms + physics_step: mean=19.2ms, total=5.58s, count=290, min=14.3ms, max=31.4ms + save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4033.2ms, max=4033.2ms + task_sampling: mean=447.1ms, total=447.1ms, count=1, min=447.1ms, max=447.1ms + task_specific_sample: mean=442.5ms, total=442.5ms, count=1, min=442.5ms, max=442.5ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=544.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.2us, 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] +05/10 22:57:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:57:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:57:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:57:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:57:11 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] +05/10 22:57:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:57:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048441m [env.py: 870] +05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:57:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04123618 0.86827455 0.04844126] yaw=-144.8deg [env.py: 1019] +05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82468738 0.84828346 0.04844126] yaw=-158.0deg [env.py: 1019] +05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:57:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.2ms, total=149.2ms [env.py: 1075] +05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.041, 0.868, 0.048) [env.py: 1079] +05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.8 deg [env.py: 1082] +05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m [env.py: 1086] +05/10 22:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:57:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:57:11 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/10 22:57:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/10 22:57:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:57:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:57:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:57:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:57:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:57:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.20s (batch: 3.70s, save: 7.50s) [pipeline.py: 300] +05/10 22:57:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.442s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:57:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.349[m] 91.708[deg] [grasp_sample.py: 539] +05/10 22:57:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:57:12 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.49s: + episode_total: mean=167.96s, total=167.96s, count=1, min=167959.2ms, max=167959.2ms + sensor_polling: mean=426.5ms, total=127.96s, count=300, min=388.9ms, max=874.3ms + save_trajectories: mean=7.50s, total=7.50s, count=1, min=7501.8ms, max=7501.8ms + physics_step: mean=19.8ms, total=5.93s, count=300, min=13.8ms, max=59.0ms + save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3696.0ms, max=3696.0ms + task_sampling: mean=485.2ms, total=485.2ms, count=1, min=485.2ms, max=485.2ms + task_specific_sample: mean=481.5ms, total=481.5ms, count=1, min=481.5ms, max=481.5ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=429.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=23.1us, 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] +05/10 22:57:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:57:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:57:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:57:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:57:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:57:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:57:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:57:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:57:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:57:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:57:13 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] +05/10 22:57:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:57:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001499m [env.py: 870] +05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:57:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97669812 0.72898189 0.00149897] yaw=-149.8deg [env.py: 1019] +05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84017954 0.83409935 0.00149897] yaw=-157.6deg [env.py: 1019] +05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78905962 0.09357419 0.00149897] yaw=158.2deg [env.py: 1019] +05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:57:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.6ms, total=115.7ms [env.py: 1075] +05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.977, 0.729, 0.001) [env.py: 1079] +05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.8 deg [env.py: 1082] +05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.767m [env.py: 1086] +05/10 22:57:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:57:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:57:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:57:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:57:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:57:14 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/10 22:57:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/10 22:57:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:57:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:57:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:57:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:57:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.327[m] 83.083[deg] [grasp_sample.py: 539] +05/10 22:57:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:57:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:57:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:57:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:57:22 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:57:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/10 22:57:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:57:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:57:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:57:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:57:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:57:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.51s (batch: 3.87s, save: 7.65s) [pipeline.py: 300] +05/10 22:57:35 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.54s: + episode_total: mean=181.83s, total=181.83s, count=1, min=181832.3ms, max=181832.3ms + sensor_polling: mean=431.8ms, total=129.55s, count=300, min=402.2ms, max=691.5ms + save_trajectories: mean=7.65s, total=7.65s, count=1, min=7647.3ms, max=7647.3ms + physics_step: mean=19.9ms, total=5.96s, count=300, min=13.0ms, max=31.6ms + save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3867.4ms, max=3867.4ms + task_sampling: mean=543.5ms, total=543.5ms, count=1, min=543.5ms, max=543.5ms + task_specific_sample: mean=540.0ms, total=540.0ms, count=1, min=540.0ms, max=540.0ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=378.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.0us, 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] +05/10 22:57:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:57:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:57:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:57:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:57:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:57:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:57:36 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] +05/10 22:57:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:57:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031969m [env.py: 870] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:57:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94646738 0.93728447 0.03196917] yaw=-143.5deg [env.py: 1019] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73740599 0.6648713 0.03196917] yaw=-158.9deg [env.py: 1019] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79786781 0.09643132 0.03196917] yaw=157.8deg [env.py: 1019] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:57:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.0ms, total=156.1ms [env.py: 1075] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.937, 0.032) [env.py: 1079] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.5 deg [env.py: 1082] +05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/10 22:57:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:57:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:57:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:57:37 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/10 22:57:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/10 22:57:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:57:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:57:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:57:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.626s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:57:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.448[m] 88.505[deg] [grasp_sample.py: 539] +05/10 22:57:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:57:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:57:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:57:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:57:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:57:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:57:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:57:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:57:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:58:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:58:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:58:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:58:57 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:59:15 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:59:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/10 22:59:15 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:59:26 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:59:26 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:59:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:59:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:59:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.25s (batch: 3.76s, save: 7.49s) [pipeline.py: 300] +05/10 22:59:27 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.44s: + episode_total: mean=167.25s, total=167.25s, count=1, min=167247.3ms, max=167247.3ms + sensor_polling: mean=423.2ms, total=126.95s, count=300, min=381.5ms, max=643.6ms + save_trajectories: mean=7.49s, total=7.49s, count=1, min=7491.0ms, max=7491.0ms + physics_step: mean=18.8ms, total=5.65s, count=300, min=14.3ms, max=29.8ms + save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3757.3ms, max=3757.3ms + task_sampling: mean=442.6ms, total=442.6ms, count=1, min=442.6ms, max=442.6ms + task_specific_sample: mean=437.8ms, total=437.8ms, count=1, min=437.8ms, max=437.8ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=645.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=29.7us, 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] +05/10 22:59:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:59:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:59:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:59:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:59:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:59:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:59:29 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] +05/10 22:59:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:59:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098000m [env.py: 870] +05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:59:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90086644 0.55961285 0.09800003] yaw=-182.3deg [env.py: 1019] +05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87031715 0.45230665 0.09800003] yaw=175.5deg [env.py: 1019] +05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:59:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=152.9ms, total=152.9ms [env.py: 1075] +05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.560, 0.098) [env.py: 1079] +05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.3 deg [env.py: 1082] +05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/10 22:59:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:59:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:59:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:59:29 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/10 22:59:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/10 22:59:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:59:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:59:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:59:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.422s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:59:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.378[m] 95.129[deg] [grasp_sample.py: 539] +05/10 22:59:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:59:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:59:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:59:44 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:59:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/10 22:59:44 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/10 22:59:44 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 22:59:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/10 22:59:44 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/10 22:59:54 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:59:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:59:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:59:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 10.57s (batch: 3.75s, save: 6.82s) [pipeline.py: 300] +05/10 22:59:55 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.37s: + episode_total: mean=161.46s, total=161.46s, count=1, min=161455.3ms, max=161455.3ms + sensor_polling: mean=431.8ms, total=123.50s, count=286, min=405.7ms, max=794.9ms + save_trajectories: mean=6.82s, total=6.82s, count=1, min=6821.8ms, max=6821.8ms + physics_step: mean=18.9ms, total=5.41s, count=286, min=13.9ms, max=31.2ms + save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3751.5ms, max=3751.5ms + task_sampling: mean=366.0ms, total=366.0ms, count=1, min=366.0ms, max=366.0ms + task_specific_sample: mean=362.6ms, total=362.6ms, count=1, min=362.6ms, max=362.6ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=382.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=23.3us, 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] +05/10 22:59:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:59:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 22:59:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.79s (batch: 3.87s, save: 7.91s) [pipeline.py: 300] +05/10 22:59:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:59:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:59:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:59:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:59:56 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] +05/10 22:59:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:59:56 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] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086477m [env.py: 870] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:59:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69798396 0.43138453 0.08647667] yaw=169.9deg [env.py: 1019] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76038231 0.02761602 0.08647667] yaw=162.6deg [env.py: 1019] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01636125 1.01034501 0.08647667] yaw=-142.1deg [env.py: 1019] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:59:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.6ms, total=175.7ms [env.py: 1075] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.431, 0.086) [env.py: 1079] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.9 deg [env.py: 1082] +05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m [env.py: 1086] +05/10 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:59:57 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.40s: + episode_total: mean=166.05s, total=166.05s, count=1, min=166046.2ms, max=166046.2ms + sensor_polling: mean=432.1ms, total=126.19s, count=292, min=401.5ms, max=622.5ms + save_trajectories: mean=7.91s, total=7.91s, count=1, min=7914.6ms, max=7914.6ms + physics_step: mean=19.4ms, total=5.67s, count=292, min=14.5ms, max=28.9ms + save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3873.6ms, max=3873.6ms + task_sampling: mean=404.7ms, total=404.7ms, count=1, min=404.7ms, max=404.7ms + task_specific_sample: mean=401.0ms, total=401.0ms, count=1, min=401.0ms, max=401.0ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=439.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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] +05/10 22:59:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:59:57 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/10 22:59:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/10 22:59:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:59:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:59:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:59:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.622s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:59:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.592[m] 98.411[deg] [grasp_sample.py: 539] +05/10 22:59:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:59:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:59:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:59:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:59:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:59:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:59:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:59:58 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] +05/10 22:59:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:59:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040458m [env.py: 870] +05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:59:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8882694 1.00585347 0.04045805] yaw=-146.6deg [env.py: 1019] +05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82050444 0.094689 0.04045805] yaw=161.9deg [env.py: 1019] +05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80412892 0.29941775 0.04045805] yaw=157.9deg [env.py: 1019] +05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:59:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.2ms, total=93.3ms [env.py: 1075] +05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.888, 1.006, 0.040) [env.py: 1079] +05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.6 deg [env.py: 1082] +05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/10 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:59:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:59:59 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/10 22:59:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/10 22:59:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:59:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:59:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 23:00:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.447s, found feasible grasp: True [grasp_sample.py: 500] +05/10 23:00:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.560[m] 89.669[deg] [grasp_sample.py: 539] +05/10 23:00:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 23:00:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 23:00:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:00:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:00:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 23:00:14 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 23:00:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/10 23:00:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 23:00:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 23:00:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 23:00:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 23:00:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.90s (batch: 3.97s, save: 7.93s) [pipeline.py: 300] +05/10 23:00:26 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.42s: + episode_total: mean=170.03s, total=170.03s, count=1, min=170026.7ms, max=170026.7ms + sensor_polling: mean=428.8ms, total=128.65s, count=300, min=394.0ms, max=681.8ms + save_trajectories: mean=7.93s, total=7.93s, count=1, min=7930.6ms, max=7930.6ms + physics_step: mean=19.0ms, total=5.71s, count=300, min=15.1ms, max=30.9ms + save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3970.2ms, max=3970.2ms + task_sampling: mean=423.6ms, total=423.6ms, count=1, min=423.6ms, max=423.6ms + task_specific_sample: mean=420.4ms, total=420.4ms, count=1, min=420.4ms, max=420.4ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=376.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.2us, 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] +05/10 23:00:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 23:00:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 23:00:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 23:00:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 23:00:28 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] +05/10 23:00:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 23:00:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037259m [env.py: 870] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 23:00:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.60765392 0.5839169 0.03725937] yaw=-166.3deg [env.py: 1019] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86674506 0.28956572 0.03725937] yaw=174.7deg [env.py: 1019] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68016772 0.77103289 0.03725937] yaw=-163.1deg [env.py: 1019] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 23:00:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.7ms, total=103.8ms [env.py: 1075] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.608, 0.584, 0.037) [env.py: 1079] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.3 deg [env.py: 1082] +05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/10 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 23:00:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 23:00:28 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/10 23:00:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/10 23:00:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 23:00:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 23:00:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 23:00:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.388s, found feasible grasp: True [grasp_sample.py: 500] +05/10 23:00:31 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.691[m] 90.178[deg] [grasp_sample.py: 539] +05/10 23:00:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 23:00:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 23:00:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:00:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:00:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:01:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 23:01:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 23:01:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 23:01:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 23:01:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 23:01:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 23:01:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 23:01:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 23:01:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:01:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 23:01:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 23:01:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 23:01:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 23:01:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 23:01:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/10 23:01:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 23:01:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 23:01:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 23:01:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.480s, found feasible grasp: True [grasp_sample.py: 500] +05/10 23:01:51 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.063[m] 3.251[deg] [grasp_sample.py: 539] +05/10 23:01:52 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/10 23:01:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 23:01:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 23:01:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 23:01:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 23:01:54 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] +05/10 23:01:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 23:01:54 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] +05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009940m [env.py: 870] +05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 23:01:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74941392 0.23961989 0.0099402 ] yaw=160.8deg [env.py: 1019] +05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87399664 1.02069893 0.0099402 ] yaw=-158.3deg [env.py: 1019] +05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76937964 0.90218196 0.0099402 ] yaw=-145.9deg [env.py: 1019] +05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 23:01:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=237.2ms, total=237.2ms [env.py: 1075] +05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.240, 0.010) [env.py: 1079] +05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.8 deg [env.py: 1082] +05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/10 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 23:01:55 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 23:01:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 23:01:55 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/10 23:01:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/10 23:01:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 23:01:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 23:01:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 23:01:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.109s, found feasible grasp: True [grasp_sample.py: 500] +05/10 23:01:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.547[m] 96.082[deg] [grasp_sample.py: 539] +05/10 23:01:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 23:01:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 23:01:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:02:17 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 23:02:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/10 23:02:17 INFO: [Worker 0] Preparing episode data: 298 timesteps [save_utils.py: 278] +05/10 23:02:25 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 23:02:28 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 23:02:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 23:02:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 23:02:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.30s (batch: 3.91s, save: 11.39s) [pipeline.py: 300] +05/10 23:02:34 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.40s: + episode_total: mean=184.64s, total=184.64s, count=1, min=184644.4ms, max=184644.4ms + sensor_polling: mean=447.7ms, total=132.97s, count=297, min=387.6ms, max=762.8ms + save_trajectories: mean=11.39s, total=11.39s, count=1, min=11385.6ms, max=11385.6ms + physics_step: mean=22.0ms, total=6.52s, count=297, min=14.1ms, max=45.1ms + save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3909.5ms, max=3909.5ms + task_sampling: mean=402.8ms, total=402.8ms, count=1, min=402.8ms, max=402.8ms + task_specific_sample: mean=399.2ms, total=399.2ms, count=1, min=399.2ms, max=399.2ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=403.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.8us, 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] +05/10 23:02:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 23:02:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 23:02:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 23:02:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 23:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 23:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 23:02:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 23:02:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 23:02:35 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] +05/10 23:02:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 23:02:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054724m [env.py: 870] +05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 23:02:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73037763 0.35979698 0.05472371] yaw=168.7deg [env.py: 1019] +05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95290688 0.422369 0.05472371] yaw=174.9deg [env.py: 1019] +05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0021448 0.95633316 0.05472371] yaw=-151.4deg [env.py: 1019] +05/10 23:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 23:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 23:02:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.2ms, total=201.2ms [env.py: 1075] +05/10 23:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.360, 0.055) [env.py: 1079] +05/10 23:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.7 deg [env.py: 1082] +05/10 23:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/10 23:02:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 23:02:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 23:02:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 23:02:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 23:02:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 23:02:36 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/10 23:02:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/10 23:02:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 23:02:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 23:02:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 23:02:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.674s, found feasible grasp: True [grasp_sample.py: 500] +05/10 23:02:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.528[m] 92.102[deg] [grasp_sample.py: 539] +05/10 23:02:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 23:02:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 23:02:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:02:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:02:50 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 23:02:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/10 23:02:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 23:02:51 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 23:02:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/10 23:02:51 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 23:02:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 23:03:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 23:03:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 23:03:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 23:03:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 14.56s (batch: 3.80s, save: 10.76s) [pipeline.py: 300] +05/10 23:03:05 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.44s: + episode_total: mean=188.76s, total=188.76s, count=1, min=188760.5ms, max=188760.5ms + sensor_polling: mean=459.1ms, total=137.73s, count=300, min=393.1ms, max=851.7ms + save_trajectories: mean=10.76s, total=10.76s, count=1, min=10761.9ms, max=10761.9ms + physics_step: mean=22.3ms, total=6.69s, count=300, min=14.0ms, max=69.0ms + save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3796.1ms, max=3796.1ms + task_sampling: mean=441.9ms, total=441.9ms, count=1, min=441.9ms, max=441.9ms + task_specific_sample: mean=437.7ms, total=437.7ms, count=1, min=437.7ms, max=437.7ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=602.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=19.9us, 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] +05/10 23:03:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 23:03:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 23:03:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 23:03:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 23:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 23:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 23:03:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 23:03:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 23:03:07 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] +05/10 23:03:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 23:03:07 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] +05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024172m [env.py: 870] +05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 23:03:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:03:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 23:03:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 23:03:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.41s (batch: 4.19s, save: 11.22s) [pipeline.py: 300] +05/10 23:03:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.7ms, total=185.7ms [env.py: 1105] +05/10 23:03:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 285] +05/10 23:03:07 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/10 23:03:08 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.35s: + episode_total: mean=189.37s, total=189.37s, count=1, min=189372.7ms, max=189372.7ms + sensor_polling: mean=460.7ms, total=138.21s, count=300, min=395.9ms, max=828.5ms + save_trajectories: mean=11.22s, total=11.22s, count=1, min=11224.6ms, max=11224.6ms + physics_step: mean=21.7ms, total=6.50s, count=300, min=15.4ms, max=55.7ms + save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4190.1ms, max=4190.1ms + task_sampling: mean=345.6ms, total=345.6ms, count=1, min=345.6ms, max=345.6ms + task_specific_sample: mean=342.0ms, total=342.0ms, count=1, min=342.0ms, max=342.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=409.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=27.5us, 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] +05/10 23:03:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 23:03:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 23:03:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 23:03:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 23:03:09 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] +05/10 23:03:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 23:03:09 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] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021769m [env.py: 870] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 23:03:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0124824 1.18843333 0.02176932] yaw=-137.1deg [env.py: 1019] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99086151 0.74775623 0.02176932] yaw=-153.3deg [env.py: 1019] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.65580689 0.30052194 0.02176932] yaw=173.8deg [env.py: 1019] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 23:03:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.5ms, total=99.5ms [env.py: 1075] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.012, 1.188, 0.022) [env.py: 1079] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.1 deg [env.py: 1082] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 23:03:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 23:03:09 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/10 23:03:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/10 23:03:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 23:03:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 23:03:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 23:03:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 23:03:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 23:03:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 23:03:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 23:03:09 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] +05/10 23:03:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 23:03:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090694m [env.py: 870] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 23:03:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67243839 0.85116641 0.0906941 ] yaw=-158.7deg [env.py: 1019] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88144848 0.58480047 0.0906941 ] yaw=-166.4deg [env.py: 1019] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.99806534 0.98653303 0.0906941 ] yaw=-152.0deg [env.py: 1019] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 23:03:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.1ms, total=161.1ms [env.py: 1075] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.851, 0.091) [env.py: 1079] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.7 deg [env.py: 1082] +05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 23:03:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 23:03:10 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/10 23:03:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/10 23:03:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 23:03:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 23:03:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 23:03:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.742s, found feasible grasp: True [grasp_sample.py: 500] +05/10 23:03:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.535[m] 83.481[deg] [grasp_sample.py: 539] +05/10 23:03:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 23:03:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 23:03:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:03:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.674s, found feasible grasp: True [grasp_sample.py: 500] +05/10 23:03:12 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.699[m] 89.345[deg] [grasp_sample.py: 539] +05/10 23:03:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 23:03:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 23:03:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:03:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:03:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 23:03:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 23:03:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:04:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 23:04:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 23:04:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:04:23 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 23:04:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 23:04:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 23:04:49 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 [pipeline.py: 1174] +05/10 23:04:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/10 23:04:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 23:04:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 23:04:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 23:04:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 23:04:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 23:05:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 [save_utils.py: 785] +05/10 23:05:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.70s (batch: 3.84s, save: 8.86s) [pipeline.py: 300] +05/10 23:05:02 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.86s: + episode_total: mean=136.13s, total=272.26s, count=2, min=84330.6ms, max=187932.9ms + sensor_polling: mean=454.1ms, total=199.80s, count=440, min=392.1ms, max=805.8ms + physics_step: mean=22.1ms, total=9.72s, count=440, min=14.2ms, max=69.3ms + save_trajectories: mean=8.86s, total=8.86s, count=1, min=8857.3ms, max=8857.3ms + save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3841.3ms, max=3841.3ms + task_sampling: mean=428.6ms, total=857.2ms, count=2, min=380.1ms, max=477.1ms + task_specific_sample: mean=425.4ms, total=850.7ms, count=2, min=376.7ms, max=474.0ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.3ms, max=2.3ms + mj_forward_sync: mean=390.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.8us, 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] +05/10 23:05:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 23:05:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 23:05:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 23:05:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 23:05:04 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] +05/10 23:05:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 23:05:04 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] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023719m [env.py: 870] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 23:05:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 23:05:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74614313 0.2605178 0.02371915] yaw=176.3deg [env.py: 1019] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93320469 0.54686341 0.02371915] yaw=-172.9deg [env.py: 1019] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8000502 0.36590814 0.02371915] yaw=166.1deg [env.py: 1019] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 23:05:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=550.3ms, total=550.3ms [env.py: 1075] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.746, 0.261, 0.024) [env.py: 1079] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.3 deg [env.py: 1082] +05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/10 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 23:05:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 23:05:05 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/10 23:05:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/10 23:05:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 23:05:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 23:05:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 23:05:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.199s, found feasible grasp: True [grasp_sample.py: 500] +05/10 23:05:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.541[m] 90.433[deg] [grasp_sample.py: 539] +05/10 23:05:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 23:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 23:05:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 23:05:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/10 23:05:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 23:05:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 23:05:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/10 23:05:10 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.860s, found feasible grasp: True [grasp_sample.py: 500] +05/10 23:05:10 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.068[deg] [grasp_sample.py: 539] +05/10 23:05:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 23:05:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 23:05:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 23:05:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/10 23:05:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 23:05:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 23:05:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/10 23:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:14 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.702s, found feasible grasp: True [grasp_sample.py: 500] +05/10 23:05:14 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.024[deg] [grasp_sample.py: 539] +05/10 23:05:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 23:05:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 23:05:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:05:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:10 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 23:05:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/10 23:05:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 23:05:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 23:05:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/10 23:05:16 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.357s, found feasible grasp: True [grasp_sample.py: 500] +05/10 23:05:16 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.000[deg] [grasp_sample.py: 539] +05/10 23:05:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 23:05:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 23:05:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:05:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 23:05:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/10 23:05:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 23:05:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 23:05:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/10 23:05:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:22 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.597s, found feasible grasp: True [grasp_sample.py: 500] +05/10 23:05:22 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.384[deg] [grasp_sample.py: 539] +05/10 23:05:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 23:05:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 23:05:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:05:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:32 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 23:05:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 23:05:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 23:05:40 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] diff --git a/fridge_7/chunk_010/shard_1_of_4.log b/fridge_7/chunk_010/shard_1_of_4.log new file mode 100644 index 0000000000000000000000000000000000000000..db2bf68ee74e3f193b761f50e2514fb43e32cf86 --- /dev/null +++ b/fridge_7/chunk_010/shard_1_of_4.log @@ -0,0 +1,1178 @@ +========================================== +Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_010 + shard=1/4 seed=21001 samples=3 + CUDA_VISIBLE_DEVICES=0 + scene=ithor_minimal_fridge_7 radius=[0.7,1.1] theta=[-0.5,0.9] +========================================== +[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg) +INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height) +INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing. +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:37:52 INFO pipeline.py:640] WandB logging disabled (environment variables not set) +[05/10 22:37:52 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes +[05/10 22:37:52 INFO pipeline.py:1366] Evaluation configuration: +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings: + PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple]) + PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_010'), input_type=PosixPath]) + return self.__pydantic_serializer__.to_python( +[05/10 22:37:52 INFO pipeline.py:1367] {'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_7/sim_chunks/chunk_010'), + '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_7', + 'seed': 21001, + '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'} +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:37:52 Worker 0 INFO task_sampler.py:317] 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'}} +[05/10 22:37:52 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler +[05/10 22:37:52 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1) +DEBUG:filelock:Attempting to acquire lock 130184437295312 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 130184437295312 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7 +DEBUG:filelock:Attempting to release lock 130184437295312 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 130184437295312 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Attempting to acquire lock 130184435665680 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 130184435665680 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 130184435676624 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 130184435676624 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 130184435676624 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 130184435676624 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 130184435665680 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 130184435665680 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 130184437317840 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 130184437317840 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 130184437322832 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 130184437322832 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218 +DEBUG:filelock:Attempting to release lock 130184437322832 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 130184437322832 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 130184437317840 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 130184437317840 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +[05/10 22:37:52 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +[05/10 22:37:55 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml +[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None... +[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene +[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 % +[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:37:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:37:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:37:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:37:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:37:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m) +[05/10 22:37:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:37:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:37:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077916m +[05/10 22:37:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:37:55 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) +[05/10 22:37:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91576263 0.98844995 0.07791641] yaw=-153.1deg +[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01438864 0.80529802 0.07791641] yaw=-155.5deg +[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.14159589 0.98161027 0.07791641] yaw=-141.3deg +[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:37:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:37:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=19.2ms, retries=296.3ms, total=315.5ms +[05/10 22:37:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.916, 0.988, 0.078) +[05/10 22:37:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg +[05/10 22:37:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.936m +[05/10 22:37:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:37:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:37:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:37:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:37:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:37:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3 +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +[05/10 22:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.122s +[05/10 22:38:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:38:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:38:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:38:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.454s, found feasible grasp: True +[05/10 22:38:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.530[m] 93.480[deg] +[05/10 22:38:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:38:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:38:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:39:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:39:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:39:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:40:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock. + self.pid = _fork_exec( +[05/10 22:41:06 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:41:06 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes +[05/10 22:41:06 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:41:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +DEBUG:h5py._conv:Creating converter from 5 to 3 +[05/10 22:41:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:41:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 15.61s (batch: 4.13s, save: 11.49s) +[05/10 22:41:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.60s: + episode_total: mean=210.29s, total=210.29s, count=1, min=210287.0ms, max=210287.0ms + sensor_polling: mean=445.8ms, total=133.73s, count=300, min=389.7ms, max=620.7ms + save_trajectories: mean=11.49s, total=11.49s, count=1, min=11488.3ms, max=11488.3ms + physics_step: mean=20.4ms, total=6.12s, count=300, min=14.6ms, max=42.8ms + save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4125.1ms, max=4125.1ms + task_sampling: mean=3.60s, total=3.60s, count=1, min=3601.2ms, max=3601.2ms + scene_load: mean=3.01s, total=3.01s, count=1, min=3008.3ms, max=3008.3ms + scene_env_create: mean=1.96s, total=1.96s, count=1, min=1964.4ms, max=1964.4ms + scene_compile: mean=911.5ms, total=911.5ms, count=1, min=911.5ms, max=911.5ms + compile_mujoco: mean=670.1ms, total=670.1ms, count=1, min=670.1ms, max=670.1ms + task_specific_sample: mean=590.0ms, total=590.0ms, count=1, min=590.0ms, max=590.0ms + compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms + scene_init: mean=90.1ms, total=90.1ms, count=1, min=90.1ms, max=90.1ms + compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms + compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms + scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms + asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms + compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms + asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=583.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=32.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/10 22:41:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:41:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:41:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:41:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:41:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:41:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:41:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:41:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:41:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:41:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:41:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m) +[05/10 22:41:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:41:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:41:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082675m +[05/10 22:41:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:41:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:41:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:41:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03131307 1.32258643 0.0826748 ] yaw=-130.2deg +[05/10 22:41:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:41:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:41:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:41:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:41:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94219337 0.51121627 0.0826748 ] yaw=-169.6deg +[05/10 22:41:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:41:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84717076 0.06256661 0.0826748 ] yaw=162.7deg +[05/10 22:41:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:41:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:41:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.5ms, total=107.5ms +[05/10 22:41:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.031, 1.323, 0.083) +[05/10 22:41:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.2 deg +[05/10 22:41:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.076m +[05/10 22:41:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:41:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:41:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:41:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:41:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:41:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3 +[05/10 22:41:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s +[05/10 22:41:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:41:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:41:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps +[05/10 22:41:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.462s, found feasible grasp: False +[05/10 22:41:26 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: No feasible grasp found +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses + grasp_pose_world = compute_grasp_pose( + ^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose + raise ValueError("No feasible grasp found") +ValueError: No feasible grasp found +[05/10 22:41:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:41:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:41:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:41:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:41:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:41:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:41:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:41:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:41:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:41:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:41:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) +[05/10 22:41:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:41:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:41:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053487m +[05/10 22:41:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:41:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:41:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:41:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:41:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:41:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:41:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:41:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99662649 1.29881911 0.05348663] yaw=-127.7deg +[05/10 22:41:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:41:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:41:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.7ms, total=160.7ms +[05/10 22:41:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.997, 1.299, 0.053) +[05/10 22:41:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.7 deg +[05/10 22:41:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.079m +[05/10 22:41:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:41:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:41:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:41:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:41:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:41:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3 +[05/10 22:41:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.042s +[05/10 22:41:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:41:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:41:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:41:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.444s, found feasible grasp: False +[05/10 22:41:29 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: No feasible grasp found +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses + grasp_pose_world = compute_grasp_pose( + ^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose + raise ValueError("No feasible grasp found") +ValueError: No feasible grasp found +[05/10 22:41:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:41:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:41:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:41:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:41:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:41:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:41:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:41:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:41:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:41:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:41:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m) +[05/10 22:41:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:41:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:41:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034665m +[05/10 22:41:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:41:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:41:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:41:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00444517 1.09810385 0.03466466] yaw=-136.6deg +[05/10 22:41:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:41:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69702867 0.40498994 0.03466466] yaw=167.6deg +[05/10 22:41:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:41:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:41:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96258832 0.89332976 0.03466466] yaw=-141.3deg +[05/10 22:41:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:41:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:41:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.4ms +[05/10 22:41:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.004, 1.098, 0.035) +[05/10 22:41:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.6 deg +[05/10 22:41:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.931m +[05/10 22:41:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:41:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:41:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:41:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:41:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:41:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3 +[05/10 22:41:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.042s +[05/10 22:41:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:41:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:41:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:41:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.112s, found feasible grasp: True +[05/10 22:41:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.532[m] 93.987[deg] +[05/10 22:41:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:41:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:41:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:42:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:42:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:42:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:43:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:43:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:43:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:43:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:43:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:44:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:44:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:44:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:44:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:44:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/10 22:44:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:44:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:44:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps +[05/10 22:44:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.480s, found feasible grasp: True +[05/10 22:44:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.102[m] 4.205[deg] +[05/10 22:44:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:44:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:44:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:44:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True +[05/10 22:44:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:44:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes +[05/10 22:44:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:44:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:44:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:44:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.96s (batch: 3.89s, save: 8.07s) +[05/10 22:44:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=1.07s: + episode_total: mean=67.18s, total=201.55s, count=3, min=1904.3ms, max=197672.3ms + sensor_polling: mean=457.8ms, total=137.35s, count=300, min=397.3ms, max=787.0ms + save_trajectories: mean=8.07s, total=8.07s, count=1, min=8067.5ms, max=8067.5ms + physics_step: mean=20.6ms, total=6.19s, count=300, min=13.8ms, max=37.5ms + save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3894.9ms, max=3894.9ms + task_sampling: mean=356.4ms, total=1.07s, count=3, min=329.9ms, max=373.6ms + task_specific_sample: mean=353.1ms, total=1.06s, count=3, min=327.2ms, max=370.4ms + scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.3ms, max=2.5ms + mj_forward_sync: mean=532.0us, total=1.6ms, count=3, min=0.5ms, max=0.5ms + policy_setup: mean=20.5us, 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 +[05/10 22:44:50 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:44:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:44:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:44:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:44:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:44:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:44:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:44:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:44:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:44:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:44:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m) +[05/10 22:44:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:44:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:44:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011745m +[05/10 22:44:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:44:50 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:44:50 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:44:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95274897 0.65035203 0.01174507] yaw=-166.4deg +[05/10 22:44:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:44:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:44:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:44:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7719951 0.50098328 0.01174507] yaw=-176.0deg +[05/10 22:44:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:44:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:44:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94010605 0.71200432 0.01174507] yaw=-159.4deg +[05/10 22:44:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:44:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:44:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.4ms, total=164.4ms +[05/10 22:44:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.650, 0.012) +[05/10 22:44:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.4 deg +[05/10 22:44:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.768m +[05/10 22:44:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:44:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:44:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:44:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:44:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:44:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3 +[05/10 22:44:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.125s +[05/10 22:44:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:44:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:44:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps +[05/10 22:44:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.193s, found feasible grasp: True +[05/10 22:44:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.364[m] 96.025[deg] +[05/10 22:44:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:44:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:44:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:45:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:45:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:45:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:47:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True +[05/10 22:47:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:47:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes +[05/10 22:47:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 297 timesteps +[05/10 22:47:53 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:47:53 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:47:53 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.91s (batch: 3.85s, save: 8.06s) +[05/10 22:47:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.44s: + episode_total: mean=183.46s, total=183.46s, count=1, min=183457.6ms, max=183457.6ms + sensor_polling: mean=454.1ms, total=134.42s, count=296, min=402.9ms, max=798.1ms + save_trajectories: mean=8.06s, total=8.06s, count=1, min=8060.7ms, max=8060.7ms + physics_step: mean=20.6ms, total=6.11s, count=296, min=16.9ms, max=50.9ms + save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3849.4ms, max=3849.4ms + task_sampling: mean=436.8ms, total=436.8ms, count=1, min=436.8ms, max=436.8ms + task_specific_sample: mean=432.8ms, total=432.8ms, count=1, min=432.8ms, max=432.8ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=464.2us, 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 +[05/10 22:47:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:47:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:47:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:47:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:47:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:47:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:47:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:47:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:47:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:47:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:47:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) +[05/10 22:47:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:47:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:47:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064826m +[05/10 22:47:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:47:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:47:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:47:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77909908 0.36449058 0.06482625] yaw=169.0deg +[05/10 22:47:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:47:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:47:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00905642 0.84973933 0.06482625] yaw=-150.6deg +[05/10 22:47:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:47:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:47:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:47:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.17034042 1.06685253 0.06482625] yaw=-143.2deg +[05/10 22:47:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:47:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:47:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.1ms, total=125.1ms +[05/10 22:47:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.364, 0.065) +[05/10 22:47:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.0 deg +[05/10 22:47:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.931m +[05/10 22:47:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:47:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:47:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:47:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:47:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:47:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3 +[05/10 22:47:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s +[05/10 22:47:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:47:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:47:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps +[05/10 22:47:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True +[05/10 22:47:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.476[m] 88.074[deg] +[05/10 22:47:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:47:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:47:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:48:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:48:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:48:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:50:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True +[05/10 22:50:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:50:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes +[05/10 22:50:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:51:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:51:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:51:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.12s (batch: 4.15s, save: 8.97s) +[05/10 22:51:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.37s: + episode_total: mean=189.11s, total=189.11s, count=1, min=189108.5ms, max=189108.5ms + sensor_polling: mean=454.9ms, total=136.48s, count=300, min=391.7ms, max=707.5ms + save_trajectories: mean=8.97s, total=8.97s, count=1, min=8969.2ms, max=8969.2ms + physics_step: mean=22.8ms, total=6.84s, count=300, min=15.7ms, max=74.1ms + save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4147.4ms, max=4147.4ms + task_sampling: mean=371.2ms, total=371.2ms, count=1, min=371.2ms, max=371.2ms + task_specific_sample: mean=366.8ms, total=366.8ms, count=1, min=366.8ms, max=366.8ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=566.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.9us, 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 +[05/10 22:51:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:51:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:51:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:51:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:51:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:51:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:51:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:51:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:51:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:51:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:51:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m) +[05/10 22:51:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:51:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:51:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063214m +[05/10 22:51:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:51:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:51:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:51:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:51:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78178268 0.16125427 0.06321395] yaw=171.3deg +[05/10 22:51:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:51:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:51:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:51:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:51:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98684736 1.11021565 0.06321395] yaw=-148.9deg +[05/10 22:51:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:51:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:51:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=271.2ms, total=271.3ms +[05/10 22:51:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.161, 0.063) +[05/10 22:51:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.3 deg +[05/10 22:51:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.975m +[05/10 22:51:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:51:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:51:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:51:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:51:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:51:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3 +[05/10 22:51:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s +[05/10 22:51:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:51:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:51:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps +[05/10 22:51:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.270s, found feasible grasp: True +[05/10 22:51:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.554[m] 93.872[deg] +[05/10 22:51:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:51:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:51:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:51:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:52:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:52:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:53:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:53:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:53:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:53:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:53:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:53:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:53:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:53:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:53:43 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:53:43 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/10 22:53:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:53:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:53:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps +[05/10 22:53:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.480s, found feasible grasp: True +[05/10 22:53:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.706[deg] +[05/10 22:53:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:53:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:53:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:53:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:53:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:53:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:53:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:53:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:53:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:53:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True +[05/10 22:54:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:54:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes +[05/10 22:54:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:54:31 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:54:31 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:54:31 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.85s (batch: 3.91s, save: 7.94s) +[05/10 22:54:31 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.54s: + episode_total: mean=205.42s, total=205.42s, count=1, min=205423.5ms, max=205423.5ms + sensor_polling: mean=458.9ms, total=137.66s, count=300, min=395.2ms, max=616.5ms + save_trajectories: mean=7.94s, total=7.94s, count=1, min=7938.5ms, max=7938.5ms + physics_step: mean=22.2ms, total=6.65s, count=300, min=11.9ms, max=56.9ms + save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3911.6ms, max=3911.6ms + task_sampling: mean=538.9ms, total=538.9ms, count=1, min=538.9ms, max=538.9ms + task_specific_sample: mean=534.9ms, total=534.9ms, count=1, min=534.9ms, max=534.9ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=611.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + 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 +[05/10 22:54:33 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:54:33 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:54:33 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:54:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:54:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:54:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:54:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:54:33 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:54:33 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:54:33 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:54:33 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m) +[05/10 22:54:33 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:54:33 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:54:33 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098529m +[05/10 22:54:33 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:54:33 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:54:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:54:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:54:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:54:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:54:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:54:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:54:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.68605572 0.29087067 0.09852885] yaw=168.9deg +[05/10 22:54:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:54:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:54:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.9ms, total=254.0ms +[05/10 22:54:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.686, 0.291, 0.099) +[05/10 22:54:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg +[05/10 22:54:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.034m +[05/10 22:54:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:54:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:54:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:54:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:54:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:54:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3 +[05/10 22:54:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s +[05/10 22:54:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:54:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:54:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:54:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True +[05/10 22:54:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.563[m] 89.226[deg] +[05/10 22:54:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:54:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:54:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:55:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:55:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:55:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:56:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:56:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:56:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:56:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:56:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:56:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:56:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:56:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:56:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:56:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/10 22:56:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:56:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:56:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps +[05/10 22:56:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.347s, found feasible grasp: True +[05/10 22:56:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.486[deg] +[05/10 22:56:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:56:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:56:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:56:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:57:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True +[05/10 22:57:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:57:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes +[05/10 22:57:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:57:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:57:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:57:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.51s (batch: 3.87s, save: 7.65s) +[05/10 22:57:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.54s: + episode_total: mean=181.83s, total=181.83s, count=1, min=181832.3ms, max=181832.3ms + sensor_polling: mean=431.8ms, total=129.55s, count=300, min=402.2ms, max=691.5ms + save_trajectories: mean=7.65s, total=7.65s, count=1, min=7647.3ms, max=7647.3ms + physics_step: mean=19.9ms, total=5.96s, count=300, min=13.0ms, max=31.6ms + save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3867.4ms, max=3867.4ms + task_sampling: mean=543.5ms, total=543.5ms, count=1, min=543.5ms, max=543.5ms + task_specific_sample: mean=540.0ms, total=540.0ms, count=1, min=540.0ms, max=540.0ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=378.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.0us, 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 +[05/10 22:57:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:57:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:57:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:57:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:57:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:57:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:57:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:57:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:57:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:57:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:57:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) +[05/10 22:57:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:57:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:57:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031969m +[05/10 22:57:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:57:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:57:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:57:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:57:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94646738 0.93728447 0.03196917] yaw=-143.5deg +[05/10 22:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:57:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:57:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73740599 0.6648713 0.03196917] yaw=-158.9deg +[05/10 22:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79786781 0.09643132 0.03196917] yaw=157.8deg +[05/10 22:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:57:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:57:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.0ms, total=156.1ms +[05/10 22:57:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.937, 0.032) +[05/10 22:57:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.5 deg +[05/10 22:57:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.882m +[05/10 22:57:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:57:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:57:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:57:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:57:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:57:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3 +[05/10 22:57:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s +[05/10 22:57:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:57:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:57:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/10 22:57:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.626s, found feasible grasp: True +[05/10 22:57:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.448[m] 88.505[deg] +[05/10 22:57:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:57:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:57:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:58:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:58:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:58:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:59:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True +[05/10 23:00:14 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 23:00:14 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes +[05/10 23:00:14 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 23:00:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 23:00:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 23:00:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.90s (batch: 3.97s, save: 7.93s) +[05/10 23:00:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.42s: + episode_total: mean=170.03s, total=170.03s, count=1, min=170026.7ms, max=170026.7ms + sensor_polling: mean=428.8ms, total=128.65s, count=300, min=394.0ms, max=681.8ms + save_trajectories: mean=7.93s, total=7.93s, count=1, min=7930.6ms, max=7930.6ms + physics_step: mean=19.0ms, total=5.71s, count=300, min=15.1ms, max=30.9ms + save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3970.2ms, max=3970.2ms + task_sampling: mean=423.6ms, total=423.6ms, count=1, min=423.6ms, max=423.6ms + task_specific_sample: mean=420.4ms, total=420.4ms, count=1, min=420.4ms, max=420.4ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=376.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.2us, 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 +[05/10 23:00:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 23:00:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 23:00:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 23:00:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 23:00:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 23:00:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 23:00:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 23:00:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 23:00:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 23:00:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 23:00:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m) +[05/10 23:00:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 23:00:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 23:00:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037259m +[05/10 23:00:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 23:00:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 23:00:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 23:00:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:00:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:00:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.60765392 0.5839169 0.03725937] yaw=-166.3deg +[05/10 23:00:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 23:00:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86674506 0.28956572 0.03725937] yaw=174.7deg +[05/10 23:00:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 23:00:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:00:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68016772 0.77103289 0.03725937] yaw=-163.1deg +[05/10 23:00:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 23:00:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 23:00:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.7ms, total=103.8ms +[05/10 23:00:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.608, 0.584, 0.037) +[05/10 23:00:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.3 deg +[05/10 23:00:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.099m +[05/10 23:00:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 23:00:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 23:00:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 23:00:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 23:00:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 23:00:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3 +[05/10 23:00:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s +[05/10 23:00:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 23:00:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 23:00:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/10 23:00:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.388s, found feasible grasp: True +[05/10 23:00:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.691[m] 90.178[deg] +[05/10 23:00:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 23:00:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 23:00:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 23:01:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 23:01:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 23:01:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 23:01:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 23:01:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 23:01:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 23:01:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 23:01:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 23:01:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 23:01:48 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 23:01:48 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/10 23:01:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 23:01:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 23:01:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/10 23:01:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.480s, found feasible grasp: True +[05/10 23:01:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.063[m] 3.251[deg] +[05/10 23:01:52 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/10 23:01:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 23:01:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 23:01:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 23:01:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 23:01:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 23:01:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 23:01:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 23:01:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 23:01:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 23:01:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 23:01:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m) +[05/10 23:01:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 23:01:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 23:01:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009940m +[05/10 23:01:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 23:01:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 23:01:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 23:01:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:01:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:01:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74941392 0.23961989 0.0099402 ] yaw=160.8deg +[05/10 23:01:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 23:01:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87399664 1.02069893 0.0099402 ] yaw=-158.3deg +[05/10 23:01:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 23:01:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76937964 0.90218196 0.0099402 ] yaw=-145.9deg +[05/10 23:01:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 23:01:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 23:01:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=237.2ms, total=237.2ms +[05/10 23:01:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.240, 0.010) +[05/10 23:01:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.8 deg +[05/10 23:01:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.983m +[05/10 23:01:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 23:01:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 23:01:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 23:01:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 23:01:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 23:01:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3 +[05/10 23:01:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s +[05/10 23:01:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 23:01:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 23:01:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps +[05/10 23:01:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.109s, found feasible grasp: True +[05/10 23:01:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.547[m] 96.082[deg] +[05/10 23:01:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 23:01:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 23:01:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 23:02:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 23:02:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 23:03:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 23:04:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True +[05/10 23:04:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 23:04:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes +[05/10 23:04:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 23:05:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 23:05:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 23:05:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.70s (batch: 3.84s, save: 8.86s) +[05/10 23:05:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.86s: + episode_total: mean=136.13s, total=272.26s, count=2, min=84330.6ms, max=187932.9ms + sensor_polling: mean=454.1ms, total=199.80s, count=440, min=392.1ms, max=805.8ms + physics_step: mean=22.1ms, total=9.72s, count=440, min=14.2ms, max=69.3ms + save_trajectories: mean=8.86s, total=8.86s, count=1, min=8857.3ms, max=8857.3ms + save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3841.3ms, max=3841.3ms + task_sampling: mean=428.6ms, total=857.2ms, count=2, min=380.1ms, max=477.1ms + task_specific_sample: mean=425.4ms, total=850.7ms, count=2, min=376.7ms, max=474.0ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.3ms, max=2.3ms + mj_forward_sync: mean=390.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.8us, 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 +[05/10 23:05:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 23:05:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 23:05:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 23:05:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 23:05:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 23:05:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 23:05:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 23:05:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 23:05:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 23:05:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 23:05:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m) +[05/10 23:05:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 23:05:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 23:05:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023719m +[05/10 23:05:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 23:05:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 23:05:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 23:05:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74614313 0.2605178 0.02371915] yaw=176.3deg +[05/10 23:05:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 23:05:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:05:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:05:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:05:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93320469 0.54686341 0.02371915] yaw=-172.9deg +[05/10 23:05:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 23:05:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8000502 0.36590814 0.02371915] yaw=166.1deg +[05/10 23:05:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 23:05:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 23:05:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=550.3ms, total=550.3ms +[05/10 23:05:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.746, 0.261, 0.024) +[05/10 23:05:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.3 deg +[05/10 23:05:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.982m +[05/10 23:05:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 23:05:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 23:05:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 23:05:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 23:05:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 23:05:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3 +[05/10 23:05:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.120s +[05/10 23:05:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 23:05:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 23:05:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps +[05/10 23:05:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.199s, found feasible grasp: True +[05/10 23:05:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.541[m] 90.433[deg] +[05/10 23:05:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 23:05:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 23:05:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp diff --git a/fridge_7/chunk_010/shard_2_of_4.log b/fridge_7/chunk_010/shard_2_of_4.log new file mode 100644 index 0000000000000000000000000000000000000000..bdde0ceb89e2b15e7e68ebb8cb5c1d0029da6c15 --- /dev/null +++ b/fridge_7/chunk_010/shard_2_of_4.log @@ -0,0 +1,952 @@ +========================================== +Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_010 + shard=2/4 seed=21002 samples=3 + CUDA_VISIBLE_DEVICES=1 + scene=ithor_minimal_fridge_7 radius=[0.7,1.1] theta=[-0.5,0.9] +========================================== +[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg) +INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height) +INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing. +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:37:51 INFO pipeline.py:640] WandB logging disabled (environment variables not set) +[05/10 22:37:51 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes +[05/10 22:37:51 INFO pipeline.py:1366] Evaluation configuration: +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings: + PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple]) + PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_010'), input_type=PosixPath]) + return self.__pydantic_serializer__.to_python( +[05/10 22:37:51 INFO pipeline.py:1367] {'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_7/sim_chunks/chunk_010'), + '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_7', + 'seed': 21002, + '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'} +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:37:52 Worker 0 INFO task_sampler.py:317] 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'}} +[05/10 22:37:52 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler +[05/10 22:37:52 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1) +DEBUG:filelock:Attempting to acquire lock 130409536144976 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 130409536144976 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7 +DEBUG:filelock:Attempting to release lock 130409536144976 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 130409536144976 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Attempting to acquire lock 130409540492304 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 130409540492304 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 130409540493072 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 130409540493072 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 130409540493072 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 130409540493072 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 130409540492304 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 130409540492304 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 130409536304528 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 130409536304528 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 130409536302288 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 130409536302288 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218 +DEBUG:filelock:Attempting to release lock 130409536302288 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 130409536302288 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 130409536304528 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 130409536304528 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +[05/10 22:37:52 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +[05/10 22:37:55 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml +[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None... +[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene +[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 % +[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:37:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:37:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:37:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:37:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:37:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) +[05/10 22:37:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:37:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:37:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049169m +[05/10 22:37:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:37:55 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) +[05/10 22:37:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91973279 0.90823225 0.04916875] yaw=-149.0deg +[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04110699 0.98994084 0.04916875] yaw=-142.0deg +[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95317579 0.71839542 0.04916875] yaw=-170.8deg +[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:37:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:37:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=11.9ms, retries=124.9ms, total=136.7ms +[05/10 22:37:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.920, 0.908, 0.049) +[05/10 22:37:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg +[05/10 22:37:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.891m +[05/10 22:37:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:37:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:37:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:37:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:37:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:37:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3 +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +[05/10 22:38:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 25.704s +[05/10 22:38:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:38:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:38:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps +[05/10 22:38:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.821s, found feasible grasp: True +[05/10 22:38:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.456[m] 80.606[deg] +[05/10 22:38:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:39:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:39:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:39:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:40:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock. + self.pid = _fork_exec( +[05/10 22:41:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:41:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes +[05/10 22:41:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:41:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +DEBUG:h5py._conv:Creating converter from 5 to 3 +[05/10 22:41:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:41:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 15.48s (batch: 3.95s, save: 11.53s) +[05/10 22:41:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.81s: + episode_total: mean=209.27s, total=209.27s, count=1, min=209268.9ms, max=209268.9ms + sensor_polling: mean=447.1ms, total=134.13s, count=300, min=392.4ms, max=684.7ms + save_trajectories: mean=11.53s, total=11.53s, count=1, min=11526.4ms, max=11526.4ms + physics_step: mean=20.8ms, total=6.24s, count=300, min=16.5ms, max=51.5ms + save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3952.0ms, max=3952.0ms + task_sampling: mean=3.81s, total=3.81s, count=1, min=3811.5ms, max=3811.5ms + scene_load: mean=3.23s, total=3.23s, count=1, min=3230.3ms, max=3230.3ms + scene_env_create: mean=1.86s, total=1.86s, count=1, min=1859.7ms, max=1859.7ms + scene_compile: mean=1.25s, total=1.25s, count=1, min=1247.8ms, max=1247.8ms + compile_mujoco: mean=734.6ms, total=734.6ms, count=1, min=734.6ms, max=734.6ms + task_specific_sample: mean=578.0ms, total=578.0ms, count=1, min=578.0ms, max=578.0ms + compile_xml_load: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms + scene_init: mean=70.9ms, total=70.9ms, count=1, min=70.9ms, max=70.9ms + compile_aux_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms + compile_aux_policy_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms + scene_asset_install: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms + asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms + compile_robot_add: mean=24.2ms, total=24.2ms, count=1, min=24.2ms, max=24.2ms + asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=452.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=47.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/10 22:41:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:41:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:41:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:41:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:41:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:41:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:41:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:41:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:41:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:41:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:41:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m) +[05/10 22:41:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:41:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:41:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069805m +[05/10 22:41:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:41:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:41:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:41:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74322966 0.3503497 0.0698051 ] yaw=176.6deg +[05/10 22:41:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:41:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:41:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91871736 1.06775905 0.0698051 ] yaw=-148.3deg +[05/10 22:41:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:41:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:41:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:41:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7994066 0.63251105 0.0698051 ] yaw=-160.6deg +[05/10 22:41:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:41:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:41:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.4ms, total=104.4ms +[05/10 22:41:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.350, 0.070) +[05/10 22:41:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.6 deg +[05/10 22:41:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.968m +[05/10 22:41:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:41:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:41:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:41:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:41:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:41:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3 +[05/10 22:41:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.070s +[05/10 22:41:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:41:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:41:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/10 22:41:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.538s, found feasible grasp: True +[05/10 22:41:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.538[m] 90.170[deg] +[05/10 22:41:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:41:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:41:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:42:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:42:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:42:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:43:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True +[05/10 22:44:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:44:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes +[05/10 22:44:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:44:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:44:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:44:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 15.11s (batch: 3.63s, save: 11.48s) +[05/10 22:44:28 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.38s: + episode_total: mean=185.35s, total=185.35s, count=1, min=185352.6ms, max=185352.6ms + sensor_polling: mean=462.9ms, total=138.86s, count=300, min=403.9ms, max=719.3ms + save_trajectories: mean=11.48s, total=11.48s, count=1, min=11479.1ms, max=11479.1ms + physics_step: mean=21.4ms, total=6.41s, count=300, min=16.7ms, max=70.7ms + save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3630.6ms, max=3630.6ms + task_sampling: mean=375.9ms, total=375.9ms, count=1, min=375.9ms, max=375.9ms + task_specific_sample: mean=372.7ms, total=372.7ms, count=1, min=372.7ms, max=372.7ms + scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + mj_forward_sync: mean=380.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=23.2us, 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 +[05/10 22:44:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:44:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:44:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:44:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:44:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:44:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:44:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:44:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:44:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:44:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:44:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) +[05/10 22:44:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:44:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:44:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053927m +[05/10 22:44:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:44:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:44:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:44:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:44:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84109265 0.7461015 0.05392742] yaw=-165.7deg +[05/10 22:44:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:44:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:44:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:44:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72208242 0.715298 0.05392742] yaw=-164.1deg +[05/10 22:44:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:44:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9192184 0.93208711 0.05392742] yaw=-145.9deg +[05/10 22:44:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:44:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:44:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.8ms, total=125.8ms +[05/10 22:44:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.746, 0.054) +[05/10 22:44:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -165.7 deg +[05/10 22:44:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.901m +[05/10 22:44:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:44:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:44:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:44:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:44:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:44:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3 +[05/10 22:44:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.108s +[05/10 22:44:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:44:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:44:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps +[05/10 22:44:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.639s, found feasible grasp: True +[05/10 22:44:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.413[m] 78.092[deg] +[05/10 22:44:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:44:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:44:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:45:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:45:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:46:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True +[05/10 22:47:19 [1;37mWorker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:47:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes +[05/10 22:47:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:47:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:47:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:47:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.08s (batch: 3.79s, save: 9.29s) +[05/10 22:47:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.41s: + episode_total: mean=183.57s, total=183.57s, count=1, min=183573.3ms, max=183573.3ms + sensor_polling: mean=452.1ms, total=135.63s, count=300, min=389.3ms, max=803.7ms + save_trajectories: mean=9.29s, total=9.29s, count=1, min=9294.3ms, max=9294.3ms + physics_step: mean=20.5ms, total=6.16s, count=300, min=13.5ms, max=46.0ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3788.0ms, max=3788.0ms + task_sampling: mean=412.6ms, total=412.6ms, count=1, min=412.6ms, max=412.6ms + task_specific_sample: mean=409.1ms, total=409.1ms, count=1, min=409.1ms, max=409.1ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=422.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 +[05/10 22:47:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:47:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:47:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:47:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:47:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:47:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:47:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:47:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:47:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:47:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:47:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m) +[05/10 22:47:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:47:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:47:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000316m +[05/10 22:47:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:47:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:47:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:47:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-7.08560818e-01 9.27606655e-01 3.16318320e-04] yaw=-160.8deg +[05/10 22:47:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:47:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.45774684e-01 1.64604241e-01 3.16318320e-04] yaw=162.6deg +[05/10 22:47:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:47:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:47:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=378.1ms, total=378.1ms +[05/10 22:47:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.709, 0.928, 0.000) +[05/10 22:47:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.8 deg +[05/10 22:47:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.089m +[05/10 22:47:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:47:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:47:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:47:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:47:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:47:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3 +[05/10 22:47:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.193s +[05/10 22:47:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:47:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:47:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.096s, found 88 non-colliding grasps +[05/10 22:47:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.056s, found feasible grasp: True +[05/10 22:47:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.685[m] 91.623[deg] +[05/10 22:47:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:47:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:47:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:48:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:48:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:48:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:50:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True +[05/10 22:50:25 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:50:25 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes +[05/10 22:50:25 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:50:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:50:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:50:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 14.69s (batch: 4.41s, save: 10.28s) +[05/10 22:50:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.72s: + episode_total: mean=185.62s, total=185.62s, count=1, min=185620.2ms, max=185620.2ms + sensor_polling: mean=450.2ms, total=135.06s, count=300, min=380.9ms, max=737.1ms + save_trajectories: mean=10.28s, total=10.28s, count=1, min=10282.3ms, max=10282.3ms + physics_step: mean=20.3ms, total=6.09s, count=300, min=16.5ms, max=50.7ms + save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4410.1ms, max=4410.1ms + task_sampling: mean=719.5ms, total=719.5ms, count=1, min=719.5ms, max=719.5ms + task_specific_sample: mean=715.5ms, total=715.5ms, count=1, min=715.5ms, max=715.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=467.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=28.8us, 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 +[05/10 22:50:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:50:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:50:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:50:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:50:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:50:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:50:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:50:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:50:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:50:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:50:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) +[05/10 22:50:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:50:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:50:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076326m +[05/10 22:50:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:50:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:50:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:50:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:50:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:50:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85500155 0.81926386 0.07632642] yaw=-153.6deg +[05/10 22:50:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:50:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74657561 -0.00077965 0.07632642] yaw=148.7deg +[05/10 22:50:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:50:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81050812 0.21720884 0.07632642] yaw=164.7deg +[05/10 22:50:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:50:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:50:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.1ms, total=156.2ms +[05/10 22:50:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.819, 0.076) +[05/10 22:50:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.6 deg +[05/10 22:50:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.912m +[05/10 22:50:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:50:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:50:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:50:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:50:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:50:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3 +[05/10 22:50:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s +[05/10 22:50:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:50:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:50:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/10 22:50:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.504s, found feasible grasp: True +[05/10 22:50:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.506[m] 97.464[deg] +[05/10 22:50:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:50:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:50:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:51:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:51:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:51:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:53:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True +[05/10 22:53:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:53:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes +[05/10 22:53:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:53:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:53:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:53:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 14.05s (batch: 4.29s, save: 9.76s) +[05/10 22:53:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s: + episode_total: mean=181.76s, total=181.76s, count=1, min=181764.5ms, max=181764.5ms + sensor_polling: mean=450.8ms, total=135.25s, count=300, min=373.8ms, max=662.3ms + save_trajectories: mean=9.76s, total=9.76s, count=1, min=9763.9ms, max=9763.9ms + physics_step: mean=20.6ms, total=6.18s, count=300, min=13.5ms, max=41.4ms + save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4287.9ms, max=4287.9ms + task_sampling: mean=465.4ms, total=465.4ms, count=1, min=465.4ms, max=465.4ms + task_specific_sample: mean=460.5ms, total=460.5ms, count=1, min=460.5ms, max=460.5ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=619.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=30.7us, 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 +[05/10 22:53:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:53:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:53:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:53:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:53:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:53:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:53:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:53:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:53:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:53:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:53:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m) +[05/10 22:53:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:53:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:53:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042417m +[05/10 22:53:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:53:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:53:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:53:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82315677 0.05033498 0.04241678] yaw=150.5deg +[05/10 22:53:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:53:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:53:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:53:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:53:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:53:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84923007 0.39191628 0.04241678] yaw=184.9deg +[05/10 22:53:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:53:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00853221 0.17194942 0.04241678] yaw=159.3deg +[05/10 22:53:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:53:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:53:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.6ms, total=135.6ms +[05/10 22:53:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.050, 0.042) +[05/10 22:53:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 150.5 deg +[05/10 22:53:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.979m +[05/10 22:53:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:53:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:53:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:53:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:53:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:53:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3 +[05/10 22:53:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s +[05/10 22:53:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:53:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:53:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:53:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.455s, found feasible grasp: True +[05/10 22:53:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.545[m] 85.455[deg] +[05/10 22:53:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:53:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:53:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:54:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:54:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:54:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:56:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True +[05/10 22:56:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:56:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes +[05/10 22:56:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:56:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:56:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:56:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.41s (batch: 3.74s, save: 7.67s) +[05/10 22:56:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.41s: + episode_total: mean=172.63s, total=172.63s, count=1, min=172633.2ms, max=172633.2ms + sensor_polling: mean=435.3ms, total=130.59s, count=300, min=384.6ms, max=680.9ms + save_trajectories: mean=7.67s, total=7.67s, count=1, min=7671.2ms, max=7671.2ms + physics_step: mean=19.6ms, total=5.88s, count=300, min=13.5ms, max=29.6ms + save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3739.2ms, max=3739.2ms + task_sampling: mean=407.8ms, total=407.8ms, count=1, min=407.8ms, max=407.8ms + task_specific_sample: mean=403.3ms, total=403.3ms, count=1, min=403.3ms, max=403.3ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=556.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + 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 +[05/10 22:56:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:56:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:56:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:56:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:56:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:56:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:56:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:56:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:56:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:56:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:56:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m) +[05/10 22:56:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:56:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:56:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094944m +[05/10 22:56:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:56:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:56:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79805251 0.63517966 0.09494403] yaw=-159.9deg +[05/10 22:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90917446 0.64951736 0.09494403] yaw=-166.1deg +[05/10 22:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.80964404 0.92431605 0.09494403] yaw=-160.4deg +[05/10 22:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:56:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:56:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.1ms, total=159.2ms +[05/10 22:56:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.635, 0.095) +[05/10 22:56:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg +[05/10 22:56:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.917m +[05/10 22:56:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:56:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:56:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:56:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:56:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:56:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3 +[05/10 22:56:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s +[05/10 22:56:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:56:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:56:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/10 22:56:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.463s, found feasible grasp: True +[05/10 22:56:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.464[m] 83.454[deg] +[05/10 22:56:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:56:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:56:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:57:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:57:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:57:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:58:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True +[05/10 22:59:15 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:59:15 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes +[05/10 22:59:15 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:59:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:59:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:59:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.25s (batch: 3.76s, save: 7.49s) +[05/10 22:59:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.44s: + episode_total: mean=167.25s, total=167.25s, count=1, min=167247.3ms, max=167247.3ms + sensor_polling: mean=423.2ms, total=126.95s, count=300, min=381.5ms, max=643.6ms + save_trajectories: mean=7.49s, total=7.49s, count=1, min=7491.0ms, max=7491.0ms + physics_step: mean=18.8ms, total=5.65s, count=300, min=14.3ms, max=29.8ms + save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3757.3ms, max=3757.3ms + task_sampling: mean=442.6ms, total=442.6ms, count=1, min=442.6ms, max=442.6ms + task_specific_sample: mean=437.8ms, total=437.8ms, count=1, min=437.8ms, max=437.8ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=645.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=29.7us, 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 +[05/10 22:59:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:59:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:59:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:59:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:59:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:59:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:59:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:59:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:59:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:59:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:59:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m) +[05/10 22:59:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:59:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:59:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098000m +[05/10 22:59:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:59:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:59:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:59:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:59:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:59:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:59:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:59:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90086644 0.55961285 0.09800003] yaw=-182.3deg +[05/10 22:59:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:59:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87031715 0.45230665 0.09800003] yaw=175.5deg +[05/10 22:59:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:59:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:59:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=152.9ms, total=152.9ms +[05/10 22:59:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.560, 0.098) +[05/10 22:59:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -182.3 deg +[05/10 22:59:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.805m +[05/10 22:59:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:59:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:59:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:59:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:59:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:59:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3 +[05/10 22:59:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s +[05/10 22:59:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:59:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:59:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/10 22:59:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.422s, found feasible grasp: True +[05/10 22:59:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.378[m] 95.129[deg] +[05/10 22:59:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:59:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:59:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 23:00:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 23:00:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 23:00:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 23:01:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True +[05/10 23:02:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 23:02:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes +[05/10 23:02:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps +[05/10 23:02:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 23:02:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 23:02:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 15.30s (batch: 3.91s, save: 11.39s) +[05/10 23:02:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.40s: + episode_total: mean=184.64s, total=184.64s, count=1, min=184644.4ms, max=184644.4ms + sensor_polling: mean=447.7ms, total=132.97s, count=297, min=387.6ms, max=762.8ms + save_trajectories: mean=11.39s, total=11.39s, count=1, min=11385.6ms, max=11385.6ms + physics_step: mean=22.0ms, total=6.52s, count=297, min=14.1ms, max=45.1ms + save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3909.5ms, max=3909.5ms + task_sampling: mean=402.8ms, total=402.8ms, count=1, min=402.8ms, max=402.8ms + task_specific_sample: mean=399.2ms, total=399.2ms, count=1, min=399.2ms, max=399.2ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=403.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.8us, 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 +[05/10 23:02:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 23:02:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 23:02:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 23:02:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 23:02:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 23:02:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 23:02:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 23:02:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 23:02:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 23:02:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 23:02:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m) +[05/10 23:02:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 23:02:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 23:02:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054724m +[05/10 23:02:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 23:02:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 23:02:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 23:02:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:02:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73037763 0.35979698 0.05472371] yaw=168.7deg +[05/10 23:02:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 23:02:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:02:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95290688 0.422369 0.05472371] yaw=174.9deg +[05/10 23:02:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 23:02:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:02:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0021448 0.95633316 0.05472371] yaw=-151.4deg +[05/10 23:02:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 23:02:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 23:02:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.2ms, total=201.2ms +[05/10 23:02:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.360, 0.055) +[05/10 23:02:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.7 deg +[05/10 23:02:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.980m +[05/10 23:02:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 23:02:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 23:02:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 23:02:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 23:02:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 23:02:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3 +[05/10 23:02:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.118s +[05/10 23:02:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 23:02:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 23:02:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps +[05/10 23:02:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.674s, found feasible grasp: True +[05/10 23:02:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.528[m] 92.102[deg] +[05/10 23:02:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 23:02:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 23:02:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 23:03:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 23:03:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 23:03:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 23:04:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 23:04:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 23:04:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 23:04:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 23:05:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 23:05:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 23:05:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 23:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 23:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 23:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/10 23:05:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 23:05:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 23:05:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 78 non-colliding grasps +[05/10 23:05:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.860s, found feasible grasp: True +[05/10 23:05:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.068[deg] +[05/10 23:05:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 23:05:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 23:05:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 23:05:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9 +[05/10 23:05:13 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 23:05:13 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/10 23:05:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 23:05:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 23:05:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.093s, found 78 non-colliding grasps +[05/10 23:05:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.702s, found feasible grasp: True +[05/10 23:05:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.024[deg] +[05/10 23:05:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 23:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 23:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 23:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:10 +[05/10 23:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 23:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3 +[05/10 23:05:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 23:05:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 23:05:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 78 non-colliding grasps +[05/10 23:05:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.357s, found feasible grasp: True +[05/10 23:05:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.000[deg] +[05/10 23:05:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 23:05:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 23:05:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 23:05:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 23:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 23:05:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 23:05:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 23:05:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 23:05:32 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True diff --git a/fridge_7/chunk_010/shard_3_of_4.log b/fridge_7/chunk_010/shard_3_of_4.log new file mode 100644 index 0000000000000000000000000000000000000000..a71b28e5c1d0523de03f53da73de3a9e5eca7428 --- /dev/null +++ b/fridge_7/chunk_010/shard_3_of_4.log @@ -0,0 +1,948 @@ +========================================== +Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_010 + shard=3/4 seed=21003 samples=3 + CUDA_VISIBLE_DEVICES=2 + scene=ithor_minimal_fridge_7 radius=[0.7,1.1] theta=[-0.5,0.9] +========================================== +[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg) +INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height) +INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing. +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:37:52 INFO pipeline.py:640] WandB logging disabled (environment variables not set) +[05/10 22:37:52 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes +[05/10 22:37:52 INFO pipeline.py:1366] Evaluation configuration: +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings: + PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple]) + PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_010'), input_type=PosixPath]) + return self.__pydantic_serializer__.to_python( +[05/10 22:37:52 INFO pipeline.py:1367] {'batch_num': 3, + '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_7/sim_chunks/chunk_010'), + '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_7', + 'seed': 21003, + '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'} +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:37:52 Worker 0 INFO task_sampler.py:317] 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'}} +[05/10 22:37:52 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler +[05/10 22:37:52 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1) +DEBUG:filelock:Attempting to acquire lock 134862432227216 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 134862432227216 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7 +DEBUG:filelock:Attempting to release lock 134862432227216 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 134862432227216 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Attempting to acquire lock 134862434958288 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 134862434958288 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 134862434958672 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 134862434958672 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 134862434958672 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 134862434958672 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 134862434958288 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 134862434958288 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 134862431668112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 134862431668112 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 134862431666832 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 134862431666832 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218 +DEBUG:filelock:Attempting to release lock 134862431666832 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 134862431666832 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 134862431668112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 134862431668112 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +[05/10 22:37:53 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +[05/10 22:37:55 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml +[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None... +[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene +[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 % +[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:37:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:37:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:37:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:37:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:37:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m) +[05/10 22:37:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:37:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:37:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041316m +[05/10 22:37:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:37:55 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) +[05/10 22:37:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89916566 0.20718235 0.04131566] yaw=158.5deg +[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:37:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:37:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:37:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:37:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95350825 0.98716034 0.04131566] yaw=-150.8deg +[05/10 22:37:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:37:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01424324 0.85897738 0.04131566] yaw=-153.3deg +[05/10 22:37:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:37:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:37:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=37.5ms, retries=582.9ms, total=620.3ms +[05/10 22:37:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.207, 0.041) +[05/10 22:37:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg +[05/10 22:37:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.849m +[05/10 22:37:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:37:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:37:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:37:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:37:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:37:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3 +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +[05/10 22:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 25.911s +[05/10 22:38:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:38:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:38:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:38:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True +[05/10 22:38:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.431[m] 100.270[deg] +[05/10 22:38:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:39:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:39:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:39:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:40:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:40:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:40:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:40:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:40:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:40:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:40:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:40:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:40:15 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:40:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/10 22:40:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:40:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:40:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps +[05/10 22:40:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.414s, found feasible grasp: True +[05/10 22:40:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.799[deg] +[05/10 22:40:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:40:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:40:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:40:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:40:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:40:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:40:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:40:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:40:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:40:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:40:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:40:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:41:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:41:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:41:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:41:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:41:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:41:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:41:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:41:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:41:29 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:41:29 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/10 22:41:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:41:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:41:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 70 non-colliding grasps +[05/10 22:41:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 2.543s, found feasible grasp: True +[05/10 22:41:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.247[deg] +[05/10 22:41:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:41:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:41:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:41:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock. + self.pid = _fork_exec( +[05/10 22:41:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:41:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes +[05/10 22:41:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:42:08 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +DEBUG:h5py._conv:Creating converter from 5 to 3 +[05/10 22:42:08 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:42:08 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.99s (batch: 3.94s, save: 8.06s) +[05/10 22:42:09 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.56s: + episode_total: mean=256.26s, total=256.26s, count=1, min=256257.0ms, max=256257.0ms + sensor_polling: mean=446.0ms, total=133.81s, count=300, min=391.7ms, max=671.8ms + save_trajectories: mean=8.06s, total=8.06s, count=1, min=8055.6ms, max=8055.6ms + physics_step: mean=21.2ms, total=6.37s, count=300, min=12.4ms, max=39.1ms + save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3939.2ms, max=3939.2ms + task_sampling: mean=3.56s, total=3.56s, count=1, min=3555.9ms, max=3555.9ms + scene_load: mean=2.70s, total=2.70s, count=1, min=2702.9ms, max=2702.9ms + scene_env_create: mean=1.73s, total=1.73s, count=1, min=1729.4ms, max=1729.4ms + task_specific_sample: mean=850.2ms, total=850.2ms, count=1, min=850.2ms, max=850.2ms + scene_compile: mean=746.1ms, total=746.1ms, count=1, min=746.1ms, max=746.1ms + compile_mujoco: mean=513.8ms, total=513.8ms, count=1, min=513.8ms, max=513.8ms + scene_init: mean=188.0ms, total=188.0ms, count=1, min=188.0ms, max=188.0ms + compile_xml_load: mean=158.0ms, total=158.0ms, count=1, min=158.0ms, max=158.0ms + compile_aux_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms + compile_aux_policy_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms + scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms + asset_install_grasps: mean=27.9ms, total=27.9ms, count=1, min=27.9ms, max=27.9ms + compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms + asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms + asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=523.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/10 22:42:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:42:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:42:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:42:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:42:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:42:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:42:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:42:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:42:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:42:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:42:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m) +[05/10 22:42:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:42:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:42:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062488m +[05/10 22:42:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:42:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:42:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:42:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:42:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:42:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84912958 0.82217829 0.06248755] yaw=-158.4deg +[05/10 22:42:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:42:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83685984 0.99070552 0.06248755] yaw=-143.6deg +[05/10 22:42:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:42:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:42:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.69935673 0.1111107 0.06248755] yaw=160.0deg +[05/10 22:42:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:42:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:42:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.0ms, total=184.0ms +[05/10 22:42:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.849, 0.822, 0.062) +[05/10 22:42:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg +[05/10 22:42:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.919m +[05/10 22:42:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:42:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:42:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:42:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:42:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:42:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3 +[05/10 22:42:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s +[05/10 22:42:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:42:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:42:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps +[05/10 22:42:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True +[05/10 22:42:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.501[m] 91.863[deg] +[05/10 22:42:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:42:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:42:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:42:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:43:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:43:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:44:41 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True +[05/10 22:45:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:45:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes +[05/10 22:45:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:45:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:45:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:45:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.56s (batch: 3.89s, save: 7.67s) +[05/10 22:45:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.46s: + episode_total: mean=185.40s, total=185.40s, count=1, min=185395.5ms, max=185395.5ms + sensor_polling: mean=465.7ms, total=139.72s, count=300, min=393.8ms, max=791.0ms + save_trajectories: mean=7.67s, total=7.67s, count=1, min=7672.3ms, max=7672.3ms + physics_step: mean=21.6ms, total=6.49s, count=300, min=14.7ms, max=56.4ms + save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3887.5ms, max=3887.5ms + task_sampling: mean=458.2ms, total=458.2ms, count=1, min=458.2ms, max=458.2ms + task_specific_sample: mean=454.6ms, total=454.6ms, count=1, min=454.6ms, max=454.6ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=371.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.7us, 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 +[05/10 22:45:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:45:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:45:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:45:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:45:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:45:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:45:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:45:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:45:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:45:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:45:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m) +[05/10 22:45:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:45:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:45:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080446m +[05/10 22:45:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:45:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:45:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:45:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74332363 0.88131775 0.0804458 ] yaw=-163.3deg +[05/10 22:45:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:45:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77955304 0.88389665 0.0804458 ] yaw=-166.1deg +[05/10 22:45:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:45:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:45:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91861268 0.37051115 0.0804458 ] yaw=161.9deg +[05/10 22:45:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:45:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:45:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.1ms, total=92.1ms +[05/10 22:45:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.881, 0.080) +[05/10 22:45:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.3 deg +[05/10 22:45:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.039m +[05/10 22:45:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:45:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:45:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:45:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:45:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:45:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3 +[05/10 22:45:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s +[05/10 22:45:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:45:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:45:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps +[05/10 22:45:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.440s, found feasible grasp: True +[05/10 22:45:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.652[m] 92.845[deg] +[05/10 22:45:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:46:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:46:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:46:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:47:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True +[05/10 22:48:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:48:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes +[05/10 22:48:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:48:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:48:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:48:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.06s (batch: 4.11s, save: 7.95s) +[05/10 22:48:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.38s: + episode_total: mean=183.60s, total=183.60s, count=1, min=183599.9ms, max=183599.9ms + sensor_polling: mean=455.9ms, total=136.77s, count=300, min=393.8ms, max=963.5ms + save_trajectories: mean=7.95s, total=7.95s, count=1, min=7950.8ms, max=7950.8ms + physics_step: mean=21.0ms, total=6.30s, count=300, min=14.2ms, max=65.7ms + save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4112.9ms, max=4112.9ms + task_sampling: mean=378.2ms, total=378.2ms, count=1, min=378.2ms, max=378.2ms + task_specific_sample: mean=374.8ms, total=374.8ms, count=1, min=374.8ms, max=374.8ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=369.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=26.3us, 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 +[05/10 22:48:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:48:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:48:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:48:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:48:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:48:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:48:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:48:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:48:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:48:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:48:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m) +[05/10 22:48:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:48:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:48:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070918m +[05/10 22:48:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:48:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:48:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:48:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05710602 0.89610096 0.07091844] yaw=-147.9deg +[05/10 22:48:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:48:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:48:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:48:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.13941578 1.03785513 0.07091844] yaw=-135.9deg +[05/10 22:48:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:48:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88699984 0.40017386 0.07091844] yaw=170.7deg +[05/10 22:48:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:48:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:48:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.8ms, total=92.8ms +[05/10 22:48:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.057, 0.896, 0.071) +[05/10 22:48:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.9 deg +[05/10 22:48:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.767m +[05/10 22:48:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:48:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:48:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:48:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:48:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:48:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3 +[05/10 22:48:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s +[05/10 22:48:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:48:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:48:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:48:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True +[05/10 22:48:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.362[m] 86.630[deg] +[05/10 22:48:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:48:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:48:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:48:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:49:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:49:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:50:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True +[05/10 22:51:06 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:51:06 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes +[05/10 22:51:06 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps +[05/10 22:51:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:51:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:51:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.13s (batch: 4.20s, save: 7.93s) +[05/10 22:51:19 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.34s: + episode_total: mean=176.93s, total=176.93s, count=1, min=176932.7ms, max=176932.7ms + sensor_polling: mean=454.7ms, total=133.23s, count=293, min=388.2ms, max=659.3ms + save_trajectories: mean=7.93s, total=7.93s, count=1, min=7926.3ms, max=7926.3ms + physics_step: mean=21.2ms, total=6.20s, count=293, min=13.9ms, max=59.0ms + save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4201.9ms, max=4201.9ms + task_sampling: mean=341.3ms, total=341.3ms, count=1, min=341.3ms, max=341.3ms + task_specific_sample: mean=337.7ms, total=337.7ms, count=1, min=337.7ms, max=337.7ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=391.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=27.1us, 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 +[05/10 22:51:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:51:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:51:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:51:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:51:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:51:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:51:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:51:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:51:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:51:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:51:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m) +[05/10 22:51:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:51:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:51:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028664m +[05/10 22:51:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:51:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:51:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:51:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:51:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:51:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:51:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:51:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:51:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89576796 0.355235 0.02866437] yaw=168.6deg +[05/10 22:51:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:51:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96220708 0.33619873 0.02866437] yaw=170.7deg +[05/10 22:51:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:51:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:51:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=160.9ms, total=160.9ms +[05/10 22:51:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.355, 0.029) +[05/10 22:51:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.6 deg +[05/10 22:51:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.816m +[05/10 22:51:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:51:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:51:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:51:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:51:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:51:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3 +[05/10 22:51:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s +[05/10 22:51:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:51:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:51:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/10 22:51:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.420s, found feasible grasp: True +[05/10 22:51:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.357[m] 88.693[deg] +[05/10 22:51:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:51:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:51:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:51:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:52:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:52:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:53:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True +[05/10 22:54:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:54:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes +[05/10 22:54:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps +[05/10 22:54:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:54:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:54:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.82s (batch: 4.03s, save: 7.78s) +[05/10 22:54:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.46s: + episode_total: mean=181.64s, total=181.64s, count=1, min=181642.4ms, max=181642.4ms + sensor_polling: mean=459.8ms, total=134.26s, count=292, min=394.5ms, max=689.1ms + save_trajectories: mean=7.78s, total=7.78s, count=1, min=7784.9ms, max=7784.9ms + physics_step: mean=23.4ms, total=6.82s, count=292, min=14.0ms, max=44.2ms + save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4032.5ms, max=4032.5ms + task_sampling: mean=462.3ms, total=462.3ms, count=1, min=462.3ms, max=462.3ms + task_specific_sample: mean=458.7ms, total=458.7ms, count=1, min=458.7ms, max=458.7ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=408.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=24.8us, 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 +[05/10 22:54:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:54:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:54:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:54:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:54:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:54:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:54:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:54:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:54:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:54:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:54:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m) +[05/10 22:54:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:54:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:54:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047876m +[05/10 22:54:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:54:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:54:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:54:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:54:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99269261 0.79604298 0.04787647] yaw=-167.5deg +[05/10 22:54:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:54:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:54:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:54:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87403229 0.14618019 0.04787647] yaw=154.6deg +[05/10 22:54:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:54:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8901033 0.81030715 0.04787647] yaw=-165.4deg +[05/10 22:54:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:54:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:54:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.1ms, total=197.2ms +[05/10 22:54:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.993, 0.796, 0.048) +[05/10 22:54:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg +[05/10 22:54:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.776m +[05/10 22:54:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:54:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:54:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:54:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:54:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:54:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3 +[05/10 22:54:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s +[05/10 22:54:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:54:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:54:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps +[05/10 22:54:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.460s, found feasible grasp: True +[05/10 22:54:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.349[m] 88.841[deg] +[05/10 22:54:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:54:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:54:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:54:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:55:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:55:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:56:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True +[05/10 22:56:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:56:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes +[05/10 22:56:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 291 timesteps +[05/10 22:57:08 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:57:08 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:57:08 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.66s (batch: 4.03s, save: 7.63s) +[05/10 22:57:09 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.45s: + episode_total: mean=165.09s, total=165.09s, count=1, min=165091.7ms, max=165091.7ms + sensor_polling: mean=431.8ms, total=125.22s, count=290, min=402.0ms, max=664.8ms + save_trajectories: mean=7.63s, total=7.63s, count=1, min=7631.4ms, max=7631.4ms + physics_step: mean=19.2ms, total=5.58s, count=290, min=14.3ms, max=31.4ms + save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4033.2ms, max=4033.2ms + task_sampling: mean=447.1ms, total=447.1ms, count=1, min=447.1ms, max=447.1ms + task_specific_sample: mean=442.5ms, total=442.5ms, count=1, min=442.5ms, max=442.5ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=544.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.2us, 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 +[05/10 22:57:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:57:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:57:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:57:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:57:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:57:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:57:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:57:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:57:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:57:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:57:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m) +[05/10 22:57:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:57:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:57:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048441m +[05/10 22:57:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:57:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:57:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:57:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04123618 0.86827455 0.04844126] yaw=-144.8deg +[05/10 22:57:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:57:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82468738 0.84828346 0.04844126] yaw=-158.0deg +[05/10 22:57:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:57:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:57:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.2ms, total=149.2ms +[05/10 22:57:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.041, 0.868, 0.048) +[05/10 22:57:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.8 deg +[05/10 22:57:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.766m +[05/10 22:57:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:57:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:57:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:57:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:57:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:57:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3 +[05/10 22:57:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s +[05/10 22:57:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:57:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:57:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:57:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.442s, found feasible grasp: True +[05/10 22:57:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.349[m] 91.708[deg] +[05/10 22:57:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:57:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:57:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:57:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:57:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:57:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:59:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True +[05/10 22:59:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:59:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes +[05/10 22:59:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps +[05/10 22:59:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:59:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:59:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.79s (batch: 3.87s, save: 7.91s) +[05/10 22:59:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.40s: + episode_total: mean=166.05s, total=166.05s, count=1, min=166046.2ms, max=166046.2ms + sensor_polling: mean=432.1ms, total=126.19s, count=292, min=401.5ms, max=622.5ms + save_trajectories: mean=7.91s, total=7.91s, count=1, min=7914.6ms, max=7914.6ms + physics_step: mean=19.4ms, total=5.67s, count=292, min=14.5ms, max=28.9ms + save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3873.6ms, max=3873.6ms + task_sampling: mean=404.7ms, total=404.7ms, count=1, min=404.7ms, max=404.7ms + task_specific_sample: mean=401.0ms, total=401.0ms, count=1, min=401.0ms, max=401.0ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=439.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 +[05/10 22:59:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:59:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:59:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:59:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:59:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:59:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:59:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:59:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:59:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:59:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:59:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m) +[05/10 22:59:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:59:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:59:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040458m +[05/10 22:59:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:59:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:59:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:59:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:59:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8882694 1.00585347 0.04045805] yaw=-146.6deg +[05/10 22:59:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:59:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:59:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82050444 0.094689 0.04045805] yaw=161.9deg +[05/10 22:59:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:59:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80412892 0.29941775 0.04045805] yaw=157.9deg +[05/10 22:59:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:59:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:59:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.2ms, total=93.3ms +[05/10 22:59:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.888, 1.006, 0.040) +[05/10 22:59:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.6 deg +[05/10 22:59:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.968m +[05/10 22:59:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:59:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:59:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:59:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:59:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:59:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3 +[05/10 22:59:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s +[05/10 22:59:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:59:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:59:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps +[05/10 23:00:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.447s, found feasible grasp: True +[05/10 23:00:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.560[m] 89.669[deg] +[05/10 23:00:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 23:00:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 23:00:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 23:00:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 23:01:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 23:01:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 23:02:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True +[05/10 23:02:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 23:02:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes +[05/10 23:02:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 23:03:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 23:03:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 23:03:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 15.41s (batch: 4.19s, save: 11.22s) +[05/10 23:03:08 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.35s: + episode_total: mean=189.37s, total=189.37s, count=1, min=189372.7ms, max=189372.7ms + sensor_polling: mean=460.7ms, total=138.21s, count=300, min=395.9ms, max=828.5ms + save_trajectories: mean=11.22s, total=11.22s, count=1, min=11224.6ms, max=11224.6ms + physics_step: mean=21.7ms, total=6.50s, count=300, min=15.4ms, max=55.7ms + save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4190.1ms, max=4190.1ms + task_sampling: mean=345.6ms, total=345.6ms, count=1, min=345.6ms, max=345.6ms + task_specific_sample: mean=342.0ms, total=342.0ms, count=1, min=342.0ms, max=342.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=409.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=27.5us, 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 +[05/10 23:03:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 23:03:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 23:03:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 23:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 23:03:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 23:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 23:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 23:03:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 23:03:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 23:03:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 23:03:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m) +[05/10 23:03:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 23:03:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 23:03:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090694m +[05/10 23:03:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 23:03:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 23:03:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 23:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67243839 0.85116641 0.0906941 ] yaw=-158.7deg +[05/10 23:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 23:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88144848 0.58480047 0.0906941 ] yaw=-166.4deg +[05/10 23:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 23:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.99806534 0.98653303 0.0906941 ] yaw=-152.0deg +[05/10 23:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 23:03:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 23:03:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.1ms, total=161.1ms +[05/10 23:03:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.851, 0.091) +[05/10 23:03:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.7 deg +[05/10 23:03:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.094m +[05/10 23:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 23:03:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 23:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 23:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 23:03:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 23:03:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3 +[05/10 23:03:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s +[05/10 23:03:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 23:03:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 23:03:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps +[05/10 23:03:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.674s, found feasible grasp: True +[05/10 23:03:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.699[m] 89.345[deg] +[05/10 23:03:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 23:03:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 23:03:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 23:04:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 23:04:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 23:04:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 23:05:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True diff --git a/fridge_7/chunk_010/shard_4_of_4.log b/fridge_7/chunk_010/shard_4_of_4.log new file mode 100644 index 0000000000000000000000000000000000000000..4d2b0961aabb7643861f18eeee879aa4dde758a0 --- /dev/null +++ b/fridge_7/chunk_010/shard_4_of_4.log @@ -0,0 +1,1088 @@ +========================================== +Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_010 + shard=4/4 seed=21004 samples=3 + CUDA_VISIBLE_DEVICES=3 + scene=ithor_minimal_fridge_7 radius=[0.7,1.1] theta=[-0.5,0.9] +========================================== +[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg) +INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height) +INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing. +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:37:52 INFO pipeline.py:640] WandB logging disabled (environment variables not set) +[05/10 22:37:52 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes +[05/10 22:37:52 INFO pipeline.py:1366] Evaluation configuration: +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings: + PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple]) + PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_010'), input_type=PosixPath]) + return self.__pydantic_serializer__.to_python( +[05/10 22:37:52 INFO pipeline.py:1367] {'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_7/sim_chunks/chunk_010'), + '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_7', + 'seed': 21004, + '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'} +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:37:52 Worker 0 INFO task_sampler.py:317] 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'}} +[05/10 22:37:52 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler +[05/10 22:37:52 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1) +DEBUG:filelock:Attempting to acquire lock 127692499240400 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 127692499240400 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7 +DEBUG:filelock:Attempting to release lock 127692499240400 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 127692499240400 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Attempting to acquire lock 127692503655056 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 127692503655056 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 127692503653072 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 127692503653072 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 127692503653072 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 127692503653072 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 127692503655056 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 127692503655056 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 127692499683728 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 127692499683728 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 127692499685456 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 127692499685456 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218 +DEBUG:filelock:Attempting to release lock 127692499685456 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 127692499685456 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 127692499683728 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 127692499683728 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +[05/10 22:37:53 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +[05/10 22:37:55 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml +[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None... +[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene +[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 % +[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:37:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:37:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:37:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:37:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:37:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) +[05/10 22:37:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:37:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:37:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051637m +[05/10 22:37:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:37:55 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) +[05/10 22:37:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94646648 0.29295564 0.05163731] yaw=155.3deg +[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94396257 0.26988581 0.05163731] yaw=164.3deg +[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:37:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97613522 0.83561159 0.05163731] yaw=-143.1deg +[05/10 22:37:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:37:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:37:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=26.2ms, retries=761.1ms, total=787.3ms +[05/10 22:37:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.293, 0.052) +[05/10 22:37:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 155.3 deg +[05/10 22:37:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.779m +[05/10 22:37:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:37:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:37:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:37:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:37:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:37:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3 +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +[05/10 22:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.232s +[05/10 22:38:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:38:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:38:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps +[05/10 22:38:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True +[05/10 22:38:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.356[m] 86.587[deg] +[05/10 22:38:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:38:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:38:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:38:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:39:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:39:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:39:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:39:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:39:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:39:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:39:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:39:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:39:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:39:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:39:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:39:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/10 22:39:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:39:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:39:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps +[05/10 22:39:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.457s, found feasible grasp: True +[05/10 22:39:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.146[deg] +[05/10 22:39:52 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/10 22:39:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:39:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:39:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:39:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:39:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:39:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:39:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:39:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:39:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:39:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:39:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m) +[05/10 22:39:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:39:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:39:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021442m +[05/10 22:39:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:39:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:39:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:39:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:39:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:39:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77004991 0.4076351 0.02144173] yaw=175.5deg +[05/10 22:39:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:39:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:39:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92645745 0.34855867 0.02144173] yaw=172.3deg +[05/10 22:39:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:39:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.979881 0.24180658 0.02144173] yaw=155.7deg +[05/10 22:39:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:39:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:39:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=138.9ms, total=138.9ms +[05/10 22:39:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.408, 0.021) +[05/10 22:39:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.5 deg +[05/10 22:39:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.935m +[05/10 22:39:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:39:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:39:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:39:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:39:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:39:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3 +[05/10 22:39:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.044s +[05/10 22:39:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:39:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:39:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps +[05/10 22:39:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.472s, found feasible grasp: True +[05/10 22:39:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.528[m] 99.537[deg] +[05/10 22:39:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:39:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:39:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:40:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:40:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:41:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:42:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock. + self.pid = _fork_exec( +[05/10 22:42:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:42:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes +[05/10 22:42:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:42:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +DEBUG:h5py._conv:Creating converter from 5 to 3 +[05/10 22:42:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:42:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.25s (batch: 4.06s, save: 8.20s) +[05/10 22:42:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.24s: + episode_total: mean=152.08s, total=304.17s, count=2, min=119975.1ms, max=184194.8ms + sensor_polling: mean=449.8ms, total=210.49s, count=468, min=378.7ms, max=725.8ms + physics_step: mean=20.8ms, total=9.72s, count=468, min=15.1ms, max=68.3ms + save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.2ms, max=8195.2ms + task_sampling: mean=2.12s, total=4.24s, count=2, min=385.0ms, max=3854.6ms + save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4057.5ms, max=4057.5ms + scene_load: mean=2.79s, total=2.79s, count=1, min=2786.8ms, max=2786.8ms + scene_env_create: mean=1.73s, total=1.73s, count=1, min=1727.6ms, max=1727.6ms + task_specific_sample: mean=722.9ms, total=1.45s, count=2, min=381.9ms, max=1063.9ms + scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms + compile_mujoco: mean=576.3ms, total=576.3ms, count=1, min=576.3ms, max=576.3ms + scene_asset_install: mean=143.8ms, total=143.8ms, count=1, min=143.8ms, max=143.8ms + compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms + scene_init: mean=141.3ms, total=141.3ms, count=1, min=141.3ms, max=141.3ms + asset_install_grasps: mean=78.6ms, total=78.6ms, count=1, min=78.6ms, max=78.6ms + asset_install_objects: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms + compile_aux_objects: mean=39.7ms, total=39.7ms, count=1, min=39.7ms, max=39.7ms + compile_aux_policy_objects: mean=39.6ms, total=39.6ms, count=1, min=39.6ms, max=39.6ms + asset_install_scene: mean=25.3ms, total=25.3ms, count=1, min=25.3ms, max=25.3ms + compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.2ms, max=1.7ms + mj_forward_sync: mean=516.3us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=34.5us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/10 22:43:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:43:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:43:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:43:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:43:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:43:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:43:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:43:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:43:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:43:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:43:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m) +[05/10 22:43:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:43:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:43:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025142m +[05/10 22:43:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:43:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:43:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:43:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94112882 0.74785383 0.02514232] yaw=-161.4deg +[05/10 22:43:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:43:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85778318 0.07358061 0.02514232] yaw=154.1deg +[05/10 22:43:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:43:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:43:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:43:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:43:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70319029 0.38667033 0.02514232] yaw=179.8deg +[05/10 22:43:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:43:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:43:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.7ms, total=189.8ms +[05/10 22:43:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.748, 0.025) +[05/10 22:43:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.4 deg +[05/10 22:43:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.806m +[05/10 22:43:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:43:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:43:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:43:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:43:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:43:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3 +[05/10 22:43:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s +[05/10 22:43:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:43:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:43:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:43:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.506s, found feasible grasp: True +[05/10 22:43:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.359[m] 90.090[deg] +[05/10 22:43:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:43:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:43:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:43:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:43:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:43:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:45:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True +[05/10 22:45:43 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:45:43 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes +[05/10 22:45:43 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps +[05/10 22:45:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:45:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:45:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.74s (batch: 3.79s, save: 9.95s) +[05/10 22:45:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.49s: + episode_total: mean=178.09s, total=178.09s, count=1, min=178088.1ms, max=178088.1ms + sensor_polling: mean=462.1ms, total=135.41s, count=293, min=389.1ms, max=830.4ms + save_trajectories: mean=9.95s, total=9.95s, count=1, min=9948.8ms, max=9948.8ms + physics_step: mean=21.7ms, total=6.35s, count=293, min=13.5ms, max=68.7ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3787.6ms, max=3787.6ms + task_sampling: mean=487.9ms, total=487.9ms, count=1, min=487.9ms, max=487.9ms + task_specific_sample: mean=483.4ms, total=483.4ms, count=1, min=483.4ms, max=483.4ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=611.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=23.3us, 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 +[05/10 22:45:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:45:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:45:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:45:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:45:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:45:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:45:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:45:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:45:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:45:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:45:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m) +[05/10 22:45:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:45:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:45:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085114m +[05/10 22:45:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:45:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:45:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:45:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:45:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:45:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:45:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:45:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:45:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0381564 1.2504275 0.08511438] yaw=-120.9deg +[05/10 22:45:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:45:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00353208 1.29448249 0.08511438] yaw=-137.3deg +[05/10 22:45:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:45:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.65847062 0.43426079 0.08511438] yaw=185.1deg +[05/10 22:45:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:45:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:45:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=253.7ms, total=253.7ms +[05/10 22:45:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.038, 1.250, 0.085) +[05/10 22:45:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -120.9 deg +[05/10 22:45:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.016m +[05/10 22:45:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:45:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:45:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:45:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:46:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:46:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3 +[05/10 22:46:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s +[05/10 22:46:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:46:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:46:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:46:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.524s, found feasible grasp: True +[05/10 22:46:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.651[m] 97.704[deg] +[05/10 22:46:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:46:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:46:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:47:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:47:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:47:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:48:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:48:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:48:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:48:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:48:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:48:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:48:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:48:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:48:13 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:48:13 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/10 22:48:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:48:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:48:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps +[05/10 22:48:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.392s, found feasible grasp: False +[05/10 22:48:14 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: No feasible grasp found +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses + grasp_pose_world = compute_grasp_pose( + ^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose + raise ValueError("No feasible grasp found") +ValueError: No feasible grasp found +[05/10 22:48:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:48:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:48:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:48:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:48:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:48:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:48:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:48:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:48:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:48:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:48:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m) +[05/10 22:48:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:48:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:48:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092709m +[05/10 22:48:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:48:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:48:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:48:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:48:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:48:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01385239 0.94937734 0.09270903] yaw=-137.3deg +[05/10 22:48:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:48:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90951962 1.15564395 0.09270903] yaw=-132.7deg +[05/10 22:48:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:48:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:48:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:48:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=138.4ms, total=138.4ms +[05/10 22:48:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.014, 0.949, 0.093) +[05/10 22:48:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg +[05/10 22:48:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.832m +[05/10 22:48:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:48:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:48:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:48:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:48:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:48:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3 +[05/10 22:48:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s +[05/10 22:48:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:48:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:48:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:48:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True +[05/10 22:48:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.422[m] 91.780[deg] +[05/10 22:48:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:48:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:48:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:48:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:49:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:49:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:50:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True +[05/10 22:51:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:51:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes +[05/10 22:51:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:51:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:51:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:51:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.67s (batch: 4.36s, save: 8.32s) +[05/10 22:51:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.87s: + episode_total: mean=157.25s, total=314.50s, count=2, min=134986.1ms, max=179517.8ms + sensor_polling: mean=451.3ms, total=245.93s, count=545, min=381.4ms, max=789.2ms + physics_step: mean=21.1ms, total=11.48s, count=545, min=13.9ms, max=76.5ms + save_trajectories: mean=8.32s, total=8.32s, count=1, min=8318.7ms, max=8318.7ms + save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4355.6ms, max=4355.6ms + task_sampling: mean=436.7ms, total=873.5ms, count=2, min=359.4ms, max=514.0ms + task_specific_sample: mean=433.5ms, total=866.9ms, count=2, min=356.4ms, max=510.5ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.5ms, max=2.3ms + mj_forward_sync: mean=378.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=20.6us, 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 +[05/10 22:51:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:51:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:51:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:51:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:51:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:51:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:51:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:51:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:51:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:51:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:51:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) +[05/10 22:51:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:51:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:51:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031139m +[05/10 22:51:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:51:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:51:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:51:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82862913 0.54912305 0.03113898] yaw=-174.0deg +[05/10 22:51:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:51:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:51:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:51:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79218234 0.34733954 0.03113898] yaw=181.2deg +[05/10 22:51:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:51:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:51:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81726392 0.72876498 0.03113898] yaw=-170.0deg +[05/10 22:51:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:51:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:51:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.2ms, total=131.3ms +[05/10 22:51:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.549, 0.031) +[05/10 22:51:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.0 deg +[05/10 22:51:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.876m +[05/10 22:51:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:51:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:51:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:51:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:51:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:51:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3 +[05/10 22:51:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s +[05/10 22:51:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:51:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:51:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:51:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.445s, found feasible grasp: True +[05/10 22:51:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.412[m] 90.149[deg] +[05/10 22:51:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:51:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:51:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:51:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:52:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:52:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:53:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True +[05/10 22:54:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:54:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes +[05/10 22:54:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:54:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:54:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:54:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.44s (batch: 3.87s, save: 7.58s) +[05/10 22:54:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.38s: + episode_total: mean=185.37s, total=185.37s, count=1, min=185374.8ms, max=185374.8ms + sensor_polling: mean=457.4ms, total=137.22s, count=300, min=390.8ms, max=774.2ms + save_trajectories: mean=7.58s, total=7.58s, count=1, min=7579.9ms, max=7579.9ms + physics_step: mean=22.9ms, total=6.88s, count=300, min=14.8ms, max=49.2ms + save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3865.1ms, max=3865.1ms + task_sampling: mean=375.6ms, total=375.6ms, count=1, min=375.6ms, max=375.6ms + task_specific_sample: mean=372.3ms, total=372.3ms, count=1, min=372.3ms, max=372.3ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=376.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 +[05/10 22:54:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:54:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:54:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:54:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:54:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:54:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:54:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:54:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:54:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:54:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:54:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) +[05/10 22:54:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:54:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:54:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052019m +[05/10 22:54:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:54:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:54:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:54:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6983695 0.57458565 0.05201897] yaw=-182.9deg +[05/10 22:54:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:54:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:54:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:54:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:54:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:54:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96967141 1.27976617 0.05201897] yaw=-138.1deg +[05/10 22:54:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:54:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.21259144 1.09120141 0.05201897] yaw=-135.5deg +[05/10 22:54:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:54:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:54:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.9ms, total=166.9ms +[05/10 22:54:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.575, 0.052) +[05/10 22:54:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -182.9 deg +[05/10 22:54:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.008m +[05/10 22:54:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:54:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:54:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:54:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:54:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:54:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3 +[05/10 22:54:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s +[05/10 22:54:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:54:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:54:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps +[05/10 22:54:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.475s, found feasible grasp: True +[05/10 22:54:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.602[m] 99.897[deg] +[05/10 22:54:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:54:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:54:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:55:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:55:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:55:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:56:41 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True +[05/10 22:57:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:57:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes +[05/10 22:57:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:57:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:57:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:57:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.20s (batch: 3.70s, save: 7.50s) +[05/10 22:57:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.49s: + episode_total: mean=167.96s, total=167.96s, count=1, min=167959.2ms, max=167959.2ms + sensor_polling: mean=426.5ms, total=127.96s, count=300, min=388.9ms, max=874.3ms + save_trajectories: mean=7.50s, total=7.50s, count=1, min=7501.8ms, max=7501.8ms + physics_step: mean=19.8ms, total=5.93s, count=300, min=13.8ms, max=59.0ms + save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3696.0ms, max=3696.0ms + task_sampling: mean=485.2ms, total=485.2ms, count=1, min=485.2ms, max=485.2ms + task_specific_sample: mean=481.5ms, total=481.5ms, count=1, min=481.5ms, max=481.5ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=429.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=23.1us, 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 +[05/10 22:57:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:57:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:57:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:57:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:57:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:57:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:57:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:57:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:57:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:57:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:57:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m) +[05/10 22:57:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:57:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:57:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001499m +[05/10 22:57:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:57:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:57:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:57:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:57:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97669812 0.72898189 0.00149897] yaw=-149.8deg +[05/10 22:57:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:57:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84017954 0.83409935 0.00149897] yaw=-157.6deg +[05/10 22:57:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:57:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:57:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78905962 0.09357419 0.00149897] yaw=158.2deg +[05/10 22:57:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:57:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:57:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.6ms, total=115.7ms +[05/10 22:57:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.977, 0.729, 0.001) +[05/10 22:57:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.8 deg +[05/10 22:57:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.767m +[05/10 22:57:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:57:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:57:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:57:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:57:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:57:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3 +[05/10 22:57:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s +[05/10 22:57:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:57:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:57:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/10 22:57:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True +[05/10 22:57:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.327[m] 83.083[deg] +[05/10 22:57:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:57:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:57:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:57:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:57:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:57:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:59:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True +[05/10 22:59:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:59:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes +[05/10 22:59:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 287 timesteps +[05/10 22:59:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:59:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 22:59:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 10.57s (batch: 3.75s, save: 6.82s) +[05/10 22:59:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.37s: + episode_total: mean=161.46s, total=161.46s, count=1, min=161455.3ms, max=161455.3ms + sensor_polling: mean=431.8ms, total=123.50s, count=286, min=405.7ms, max=794.9ms + save_trajectories: mean=6.82s, total=6.82s, count=1, min=6821.8ms, max=6821.8ms + physics_step: mean=18.9ms, total=5.41s, count=286, min=13.9ms, max=31.2ms + save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3751.5ms, max=3751.5ms + task_sampling: mean=366.0ms, total=366.0ms, count=1, min=366.0ms, max=366.0ms + task_specific_sample: mean=362.6ms, total=362.6ms, count=1, min=362.6ms, max=362.6ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=382.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=23.3us, 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 +[05/10 22:59:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:59:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:59:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:59:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:59:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:59:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:59:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:59:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:59:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:59:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:59:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m) +[05/10 22:59:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:59:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:59:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086477m +[05/10 22:59:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:59:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:59:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:59:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:59:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69798396 0.43138453 0.08647667] yaw=169.9deg +[05/10 22:59:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:59:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:59:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:59:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76038231 0.02761602 0.08647667] yaw=162.6deg +[05/10 22:59:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:59:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01636125 1.01034501 0.08647667] yaw=-142.1deg +[05/10 22:59:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:59:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:59:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.6ms, total=175.7ms +[05/10 22:59:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.431, 0.086) +[05/10 22:59:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.9 deg +[05/10 22:59:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.006m +[05/10 22:59:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:59:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:59:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:59:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:59:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:59:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3 +[05/10 22:59:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s +[05/10 22:59:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:59:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:59:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/10 22:59:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.622s, found feasible grasp: True +[05/10 22:59:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.592[m] 98.411[deg] +[05/10 22:59:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:59:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:59:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 23:00:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 23:01:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 23:01:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 23:02:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True +[05/10 23:02:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 23:02:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes +[05/10 23:02:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 23:03:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 23:03:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010 +[05/10 23:03:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 14.56s (batch: 3.80s, save: 10.76s) +[05/10 23:03:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.44s: + episode_total: mean=188.76s, total=188.76s, count=1, min=188760.5ms, max=188760.5ms + sensor_polling: mean=459.1ms, total=137.73s, count=300, min=393.1ms, max=851.7ms + save_trajectories: mean=10.76s, total=10.76s, count=1, min=10761.9ms, max=10761.9ms + physics_step: mean=22.3ms, total=6.69s, count=300, min=14.0ms, max=69.0ms + save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3796.1ms, max=3796.1ms + task_sampling: mean=441.9ms, total=441.9ms, count=1, min=441.9ms, max=441.9ms + task_specific_sample: mean=437.7ms, total=437.7ms, count=1, min=437.7ms, max=437.7ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=602.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=19.9us, 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 +[05/10 23:03:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 23:03:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 23:03:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 23:03:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 23:03:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 23:03:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 23:03:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 23:03:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 23:03:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 23:03:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 23:03:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m) +[05/10 23:03:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 23:03:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 23:03:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024172m +[05/10 23:03:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 23:03:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 23:03:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 23:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:03:07 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.7ms, total=185.7ms +[05/10 23:03:07 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house + task = runner_class.sample_task_from_spec( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec + return task_sampler.sample_task(house_index=house_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task + task = self._sample_task(self.env) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task + self._sample_and_place_robot(env) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot + raise ValueError(f"Failed to place robot near object: {pickup_obj.name}") +ValueError: Failed to place robot near object: Fridge_7_upside_down_root +[05/10 23:03:07 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root +[05/10 23:03:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 23:03:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 23:03:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 23:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 23:03:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 23:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 23:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 23:03:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 23:03:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 23:03:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 23:03:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m) +[05/10 23:03:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 23:03:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 23:03:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021769m +[05/10 23:03:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 23:03:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 23:03:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 23:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0124824 1.18843333 0.02176932] yaw=-137.1deg +[05/10 23:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 23:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 23:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99086151 0.74775623 0.02176932] yaw=-153.3deg +[05/10 23:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 23:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.65580689 0.30052194 0.02176932] yaw=173.8deg +[05/10 23:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 23:03:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 23:03:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.5ms, total=99.5ms +[05/10 23:03:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.012, 1.188, 0.022) +[05/10 23:03:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.1 deg +[05/10 23:03:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.987m +[05/10 23:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 23:03:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 23:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 23:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 23:03:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 23:03:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3 +[05/10 23:03:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s +[05/10 23:03:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 23:03:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 23:03:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps +[05/10 23:03:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.742s, found feasible grasp: True +[05/10 23:03:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.535[m] 83.481[deg] +[05/10 23:03:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 23:03:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 23:03:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 23:03:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 23:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 23:04:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 23:05:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 23:05:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 23:05:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 23:05:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 23:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 23:05:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 23:05:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 23:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 23:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 23:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/10 23:05:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 23:05:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 23:05:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps +[05/10 23:05:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.597s, found feasible grasp: True +[05/10 23:05:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.384[deg] +[05/10 23:05:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 23:05:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 23:05:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 23:05:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 23:05:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 23:05:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 23:05:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 diff --git a/fridge_7/chunk_010/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_7/chunk_010/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1facb8436fbb9a84eece21dffd3c167976c7f88f --- /dev/null +++ b/fridge_7/chunk_010/trajectories_batch_1_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:112fa41725690bc6c2f197451288ab4eb7b87534c34a2294f1f64081212e65ef +size 629403243 diff --git a/fridge_7/chunk_010/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_7/chunk_010/trajectories_batch_2_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d00c6a459492e269b4af1a7b984c3a0fe475f72c --- /dev/null +++ b/fridge_7/chunk_010/trajectories_batch_2_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5040f1d49bfa8a6f5ab6f7280b0f9c50ca27f88e4d19fb06b185b1b29d720dee +size 620067667 diff --git a/fridge_7/chunk_010/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_7/chunk_010/trajectories_batch_3_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5b768b7b60390c867bb4bb95ed93ed05f728b492 --- /dev/null +++ b/fridge_7/chunk_010/trajectories_batch_3_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc69bdef68ba093bec4ea13d831d9574ed4e99f1b4cb5dc4d411b1ed8ca941c2 +size 637201329 diff --git a/fridge_7/chunk_010/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_7/chunk_010/trajectories_batch_4_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4f707a88b3d8a6ee8e48a045c02e2ed9c561ee4f --- /dev/null +++ b/fridge_7/chunk_010/trajectories_batch_4_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0037c74b5c88c3255e7d716ae3215445dc1be589cab6050950552b381168ae7 +size 544018097