diff --git a/fridge_m/sim_chunks/chunk_102/episode_00000010_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m/sim_chunks/chunk_102/episode_00000010_exo_camera_1_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e75ecb7a0be09a1ce194e4f7e43406c58b49de21 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_102/episode_00000010_exo_camera_1_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63bcf0c85baeda5df5fdd2fae1f3db30308e35fdd2940dc41ea05be15aaeb596 +size 743758 diff --git a/fridge_m/sim_chunks/chunk_102/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m/sim_chunks/chunk_102/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7b9196c1bdc5b07c21cc797937dae4ef9acf949e --- /dev/null +++ b/fridge_m/sim_chunks/chunk_102/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bab3802685c3930d27b1a4e8fca3d6ff45f1a51e2fa365d730e977d070360fb +size 638471 diff --git a/fridge_m/sim_chunks/chunk_102/episode_00000010_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m/sim_chunks/chunk_102/episode_00000010_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..74300191b7cdf6a3bd7b67156f9c4b1a6b50d24e --- /dev/null +++ b/fridge_m/sim_chunks/chunk_102/episode_00000010_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0062ea021f4f26ada370931784de31690037814a9eaa9659e78e481c91a8ea9 +size 852020 diff --git a/fridge_m/sim_chunks/chunk_102/episode_00000010_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m/sim_chunks/chunk_102/episode_00000010_wrist_camera_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6dadccc0c6696c595794e59dcba0b11c27382bc4 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_102/episode_00000010_wrist_camera_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18959f23ef560982351d85bdec967ff96eeee8c09bafd07135ec3e841550c9c3 +size 648070 diff --git a/fridge_m/sim_chunks/chunk_102/episode_00000010_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m/sim_chunks/chunk_102/episode_00000010_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..768c4663698fd9cbaac56975bbc5ea0a76026594 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_102/episode_00000010_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:044abd905a5bcc472a270a23f42a9d1e9490084fe540a4b7fe9725c46b00fb76 +size 121202 diff --git a/fridge_m/sim_chunks/chunk_102/episode_00000010_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m/sim_chunks/chunk_102/episode_00000010_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b7c7332c50db4dfcff3bb962e51e78305ca83981 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_102/episode_00000010_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb157c42cf0e96d545ece65e70ae1ca23393b5108538cb19e44f2fe4ff80f766 +size 405321 diff --git a/fridge_m/sim_chunks/chunk_102/running_log.log b/fridge_m/sim_chunks/chunk_102/running_log.log index 477a1445048e7200140ea591e473fe94e5fbeae0..eb92af6596c1bd4ff2e1ec5633486372f817dd28 100644 --- a/fridge_m/sim_chunks/chunk_102/running_log.log +++ b/fridge_m/sim_chunks/chunk_102/running_log.log @@ -6174,3 +6174,163 @@ [open_close_planner_policy.py: 225] 05/11 15:26:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] 05/11 15:26:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:26:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:26:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:26:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:26:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:26:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:26:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:27:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:27:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:27:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:27:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:27:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:27:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:27:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:27:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:27:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:27:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:27:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:27:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:27:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:27:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 15:27:40 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.587s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:27:40 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.242[deg] [grasp_sample.py: 539] +05/11 15:27:42 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:27:43 WARNING: [Worker 0] No trajectory data to save for chunk_102 [pipeline.py: 234] +05/11 15:27:43 WARNING: [Worker 0] No trajectory data to save for chunk_102 [pipeline.py: 234] +05/11 15:27:43 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes [pipeline.py: 1323] +05/11 15:27:43 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5518.24s + House averages: + episode_total: mean=170.73s, total=3073.22s, count=18, min=4651.8ms, max=244985.7ms + sensor_polling: mean=439.6ms, total=2061.33s, count=4689, min=314.8ms, max=1261.6ms + save_trajectories: mean=12.20s, total=146.44s, count=12, min=11062.0ms, max=15909.0ms + physics_step: mean=30.4ms, total=142.51s, count=4689, min=17.6ms, max=290.1ms + save_batch_prep: mean=4.41s, total=52.98s, count=12, min=3511.0ms, max=5477.4ms + task_sampling: mean=949.9ms, total=17.10s, count=18, min=492.4ms, max=6563.5ms + task_specific_sample: mean=631.7ms, total=11.37s, count=18, min=488.7ms, max=906.7ms + scene_load: mean=5.65s, total=5.65s, count=1, min=5654.2ms, max=5654.2ms + scene_env_create: mean=3.64s, total=3.64s, count=1, min=3643.9ms, max=3643.9ms + scene_compile: mean=1.69s, total=1.69s, count=1, min=1693.2ms, max=1693.2ms + compile_mujoco: mean=1.20s, total=1.20s, count=1, min=1200.1ms, max=1200.1ms + compile_xml_load: mean=390.5ms, total=390.5ms, count=1, min=390.5ms, max=390.5ms + scene_asset_install: mean=190.9ms, total=190.9ms, count=1, min=190.9ms, max=190.9ms + scene_init: mean=125.8ms, total=125.8ms, count=1, min=125.8ms, max=125.8ms + asset_install_objects: mean=118.1ms, total=118.1ms, count=1, min=118.1ms, max=118.1ms + asset_install_grasps: mean=68.7ms, total=68.7ms, count=1, min=68.7ms, max=68.7ms + compile_aux_objects: mean=60.6ms, total=60.6ms, count=1, min=60.6ms, max=60.6ms + compile_aux_policy_objects: mean=60.6ms, total=60.6ms, count=1, min=60.6ms, max=60.6ms + scene_randomize: mean=2.4ms, total=42.6ms, count=18, min=1.1ms, max=3.6ms + compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms + mj_forward_sync: mean=565.3us, total=10.2ms, count=18, min=0.4ms, max=1.1ms + asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms + policy_setup: mean=20.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 15:27:43 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 15:27:43 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5518.24s + Worker averages: + episode_total: mean=170.73s, total=3073.22s, count=18, min=4651.8ms, max=244985.7ms + sensor_polling: mean=439.6ms, total=2061.33s, count=4689, min=314.8ms, max=1261.6ms + save_trajectories: mean=12.20s, total=146.44s, count=12, min=11062.0ms, max=15909.0ms + physics_step: mean=30.4ms, total=142.51s, count=4689, min=17.6ms, max=290.1ms + save_batch_prep: mean=4.41s, total=52.98s, count=12, min=3511.0ms, max=5477.4ms + task_sampling: mean=949.9ms, total=17.10s, count=18, min=492.4ms, max=6563.5ms + task_specific_sample: mean=631.7ms, total=11.37s, count=18, min=488.7ms, max=906.7ms + scene_load: mean=5.65s, total=5.65s, count=1, min=5654.2ms, max=5654.2ms + scene_env_create: mean=3.64s, total=3.64s, count=1, min=3643.9ms, max=3643.9ms + scene_compile: mean=1.69s, total=1.69s, count=1, min=1693.2ms, max=1693.2ms + compile_mujoco: mean=1.20s, total=1.20s, count=1, min=1200.1ms, max=1200.1ms + compile_xml_load: mean=390.5ms, total=390.5ms, count=1, min=390.5ms, max=390.5ms + scene_asset_install: mean=190.9ms, total=190.9ms, count=1, min=190.9ms, max=190.9ms + scene_init: mean=125.8ms, total=125.8ms, count=1, min=125.8ms, max=125.8ms + asset_install_objects: mean=118.1ms, total=118.1ms, count=1, min=118.1ms, max=118.1ms + asset_install_grasps: mean=68.7ms, total=68.7ms, count=1, min=68.7ms, max=68.7ms + compile_aux_objects: mean=60.6ms, total=60.6ms, count=1, min=60.6ms, max=60.6ms + compile_aux_policy_objects: mean=60.6ms, total=60.6ms, count=1, min=60.6ms, max=60.6ms + scene_randomize: mean=2.4ms, total=42.6ms, count=18, min=1.1ms, max=3.6ms + compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms + mj_forward_sync: mean=565.3us, total=10.2ms, count=18, min=0.4ms, max=1.1ms + asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms + policy_setup: mean=20.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 15:27:46 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 15:27:46 INFO: Success count: 12, Total count: 13 [pipeline.py: 1491] +05/11 15:27:46 INFO: Success rate: 92.31% [pipeline.py: 1492] +05/11 15:28:18 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:28:49 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_102 [pipeline.py: 1174] +05/11 15:28:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_102 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 15:28:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:29:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:29:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_102 [save_utils.py: 785] +05/11 15:29:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_102 in 17.10s (batch: 3.88s, save: 13.22s) [pipeline.py: 300] +05/11 15:29:07 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.98s: + episode_total: mean=141.81s, total=283.63s, count=2, min=107521.0ms, max=176104.1ms + sensor_polling: mean=395.7ms, total=196.28s, count=496, min=305.0ms, max=814.7ms + physics_step: mean=27.4ms, total=13.62s, count=496, min=17.2ms, max=89.7ms + save_trajectories: mean=13.22s, total=13.22s, count=1, min=13222.2ms, max=13222.2ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3875.4ms, max=3875.4ms + task_sampling: mean=490.5ms, total=981.1ms, count=2, min=388.5ms, max=592.5ms + task_specific_sample: mean=486.6ms, total=973.2ms, count=2, min=385.5ms, max=587.7ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.1ms + mj_forward_sync: mean=547.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:29:09 WARNING: [Worker 0] No trajectory data to save for chunk_102 [pipeline.py: 234] +05/11 15:29:09 WARNING: [Worker 0] No trajectory data to save for chunk_102 [pipeline.py: 234] +05/11 15:29:09 INFO: [Worker 0] Worker 0 completed house 1: 11/13 successful episodes [pipeline.py: 1323] +05/11 15:29:09 INFO: [Worker 0] [PROFILE] House 1 complete: 11/13 successful, 13 episodes, total_time=5559.04s + House averages: + episode_total: mean=175.45s, total=3158.17s, count=18, min=4619.9ms, max=246414.3ms + sensor_polling: mean=437.6ms, total=2035.90s, count=4652, min=305.0ms, max=1143.1ms + physics_step: mean=30.0ms, total=139.66s, count=4652, min=16.1ms, max=155.2ms + save_trajectories: mean=12.59s, total=138.48s, count=11, min=11824.6ms, max=13920.0ms + save_batch_prep: mean=4.03s, total=44.29s, count=11, min=3578.5ms, max=4581.7ms + task_sampling: mean=969.5ms, total=17.45s, count=18, min=388.5ms, max=6588.4ms + task_specific_sample: mean=647.6ms, total=11.66s, count=18, min=385.5ms, max=891.6ms + scene_load: mean=5.71s, total=5.71s, count=1, min=5712.4ms, max=5712.4ms + scene_env_create: mean=3.69s, total=3.69s, count=1, min=3689.0ms, max=3689.0ms + scene_compile: mean=1.79s, total=1.79s, count=1, min=1789.1ms, max=1789.1ms + compile_mujoco: mean=1.19s, total=1.19s, count=1, min=1192.6ms, max=1192.6ms + compile_xml_load: mean=490.5ms, total=490.5ms, count=1, min=490.5ms, max=490.5ms + scene_init: mean=119.1ms, total=119.1ms, count=1, min=119.1ms, max=119.1ms + scene_asset_install: mean=114.9ms, total=114.9ms, count=1, min=114.9ms, max=114.9ms + asset_install_objects: mean=70.1ms, total=70.1ms, count=1, min=70.1ms, max=70.1ms + compile_aux_objects: mean=65.5ms, total=65.5ms, count=1, min=65.5ms, max=65.5ms + compile_aux_policy_objects: mean=65.5ms, total=65.5ms, count=1, min=65.5ms, max=65.5ms + scene_randomize: mean=2.7ms, total=48.4ms, count=18, min=1.1ms, max=6.2ms + asset_install_grasps: mean=38.8ms, total=38.8ms, count=1, min=38.8ms, max=38.8ms + compile_robot_add: mean=31.7ms, total=31.7ms, count=1, min=31.7ms, max=31.7ms + mj_forward_sync: mean=638.7us, total=11.5ms, count=18, min=0.5ms, max=2.2ms + asset_install_scene: mean=5.9ms, total=5.9ms, count=1, min=5.9ms, max=5.9ms + policy_setup: mean=21.4us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 15:29:09 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 15:29:09 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5559.04s + Worker averages: + episode_total: mean=175.45s, total=3158.17s, count=18, min=4619.9ms, max=246414.3ms + sensor_polling: mean=437.6ms, total=2035.90s, count=4652, min=305.0ms, max=1143.1ms + physics_step: mean=30.0ms, total=139.66s, count=4652, min=16.1ms, max=155.2ms + save_trajectories: mean=12.59s, total=138.48s, count=11, min=11824.6ms, max=13920.0ms + save_batch_prep: mean=4.03s, total=44.29s, count=11, min=3578.5ms, max=4581.7ms + task_sampling: mean=969.5ms, total=17.45s, count=18, min=388.5ms, max=6588.4ms + task_specific_sample: mean=647.6ms, total=11.66s, count=18, min=385.5ms, max=891.6ms + scene_load: mean=5.71s, total=5.71s, count=1, min=5712.4ms, max=5712.4ms + scene_env_create: mean=3.69s, total=3.69s, count=1, min=3689.0ms, max=3689.0ms + scene_compile: mean=1.79s, total=1.79s, count=1, min=1789.1ms, max=1789.1ms + compile_mujoco: mean=1.19s, total=1.19s, count=1, min=1192.6ms, max=1192.6ms + compile_xml_load: mean=490.5ms, total=490.5ms, count=1, min=490.5ms, max=490.5ms + scene_init: mean=119.1ms, total=119.1ms, count=1, min=119.1ms, max=119.1ms + scene_asset_install: mean=114.9ms, total=114.9ms, count=1, min=114.9ms, max=114.9ms + asset_install_objects: mean=70.1ms, total=70.1ms, count=1, min=70.1ms, max=70.1ms + compile_aux_objects: mean=65.5ms, total=65.5ms, count=1, min=65.5ms, max=65.5ms + compile_aux_policy_objects: mean=65.5ms, total=65.5ms, count=1, min=65.5ms, max=65.5ms + scene_randomize: mean=2.7ms, total=48.4ms, count=18, min=1.1ms, max=6.2ms + asset_install_grasps: mean=38.8ms, total=38.8ms, count=1, min=38.8ms, max=38.8ms + compile_robot_add: mean=31.7ms, total=31.7ms, count=1, min=31.7ms, max=31.7ms + mj_forward_sync: mean=638.7us, total=11.5ms, count=18, min=0.5ms, max=2.2ms + asset_install_scene: mean=5.9ms, total=5.9ms, count=1, min=5.9ms, max=5.9ms + 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+ 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_103'), + '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': 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'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 15:29:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 15:29:58 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 15:29:58 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 15:29:58 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 15:29:58 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 15:29:58 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 15:29:58 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_m/sim_chunks/chunk_103'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40303, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 15:29:58 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 15:29:58 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 15:29:58 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 15:29:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 15:29:58 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 15:29:58 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 15:29:58 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_103'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40304, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 15:29:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 15:29:58 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 15:29:58 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 15:29:59 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 15:29:59 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 15:29:59 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 15:29:59 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_103'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40301, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 15:29:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 15:29:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 15:29:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 15:29:59 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 15:29:59 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 15:29:59 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 15:30:00 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 15:30:04 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 15:30:04 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 15:30:04 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 15:30:04 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 15:30:04 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 15:30:04 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 15:30:04 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 15:30:04 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 15:30:04 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 15:30:04 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 15:30:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:30:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:30:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:30:04 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 15:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:30:04 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 15:30:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:30:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:30:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:30:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:30:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:30:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:30:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:30:04 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] +05/11 15:30:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:30:04 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] +05/11 15:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071087m [env.py: 870] +05/11 15:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:30:04 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 15:30:04 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] +05/11 15:30:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:30:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007960m [env.py: 870] +05/11 15:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:30:04 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 15:30:04 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 15:30:04 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 15:30:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:30:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:30:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:30:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:30:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:30:04 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] +05/11 15:30:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:30:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097262m [env.py: 870] +05/11 15:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:30:04 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90292937 0.92035608 0.00795955] yaw=-157.9deg [env.py: 1019] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82857866 0.56465701 0.09726186] yaw=-185.3deg [env.py: 1019] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:30:05 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 15:30:05 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 15:30:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:30:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02303666 1.16470158 0.09726186] yaw=-132.8deg [env.py: 1019] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:30:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:30:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:30:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:30:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080880m [env.py: 870] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:30:05 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96482845 0.19975996 0.09726186] yaw=165.0deg [env.py: 1019] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:30:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=29.1ms, retries=498.9ms, total=528.0ms [env.py: 1075] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.565, 0.097) [env.py: 1079] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.3 deg [env.py: 1082] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76697782 0.54359164 0.07108697] yaw=-165.2deg [env.py: 1019] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.8727067 0.67261885 0.00795955] yaw=-171.3deg [env.py: 1019] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:30:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=31.1ms, retries=683.8ms, total=714.9ms [env.py: 1075] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.903, 0.920, 0.008) [env.py: 1079] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.9 deg [env.py: 1082] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0161163 1.14247552 0.07108697] yaw=-126.0deg [env.py: 1019] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02134585 0.83341772 0.08087989] yaw=-163.4deg [env.py: 1019] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01221122 0.13779678 0.07108697] yaw=150.9deg [env.py: 1019] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99705117 0.92961193 0.08087989] yaw=-148.1deg [env.py: 1019] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:30:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=31.5ms, retries=836.6ms, total=868.1ms [env.py: 1075] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.544, 0.071) [env.py: 1079] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.2 deg [env.py: 1082] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74679648 0.3965406 0.08087989] yaw=174.5deg [env.py: 1019] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:30:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=127.3ms, retries=462.9ms, total=590.2ms [env.py: 1075] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.021, 0.833, 0.081) [env.py: 1079] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.4 deg [env.py: 1082] +05/11 15:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m [env.py: 1086] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:30:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:30:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:30:06 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 15:30:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:30:06 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 15:30:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:30:06 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 15:30:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:30:06 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 15:30:46 INFO: [Worker 0] Warmed up parallel IK solver in 40.176s [base_object_manipulation_planner_policy.py: 377] +05/11 15:30:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:30:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:30:46 INFO: [Worker 0] Warmed up parallel IK solver in 40.096s [base_object_manipulation_planner_policy.py: 377] +05/11 15:30:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:30:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:30:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:30:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:30:46 INFO: [Worker 0] Warmed up parallel IK solver in 40.360s [base_object_manipulation_planner_policy.py: 377] +05/11 15:30:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:30:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:30:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.200s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:30:47 INFO: [Worker 0] Warmed up parallel IK solver in 41.526s [base_object_manipulation_planner_policy.py: 377] +05/11 15:30:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:30:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:30:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:30:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.648s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:30:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.496[m] 88.598[deg] [grasp_sample.py: 539] +05/11 15:30:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:30:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.294s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:30:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.373[m] 90.180[deg] [grasp_sample.py: 539] +05/11 15:30:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.726s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:30:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.541[m] 95.903[deg] [grasp_sample.py: 539] +05/11 15:30:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:30:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:30:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:30:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:30:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:30:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:30:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:30:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:30:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:30:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:30:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.390s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:30:49 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.445[m] 91.975[deg] [grasp_sample.py: 539] +05/11 15:30:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:30:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:30:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:30:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:30:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:31:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:31:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:31:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:31:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:31:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:31:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:31:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:31:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:31:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:31:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:31:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:31:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:33:11 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:33:11 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:33:12 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:33:17 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:33:38 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:33:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 15:33:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:33:40 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:33:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 15:33:40 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:33:41 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:33:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 15:33:41 INFO: [Worker 0] Preparing episode data: 296 timesteps [save_utils.py: 278] +05/11 15:33:45 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:33:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 15:33:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:33:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:33:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:33:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.90s (batch: 4.39s, save: 11.51s) [pipeline.py: 300] +05/11 15:33:55 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=6.23s: + episode_total: mean=235.77s, total=235.77s, count=1, min=235773.1ms, max=235773.1ms + sensor_polling: mean=434.3ms, total=130.30s, count=300, min=340.8ms, max=707.0ms + save_trajectories: mean=11.51s, total=11.51s, count=1, min=11505.4ms, max=11505.4ms + physics_step: mean=30.0ms, total=9.00s, count=300, min=22.7ms, max=84.0ms + task_sampling: mean=6.23s, total=6.23s, count=1, min=6231.0ms, max=6231.0ms + scene_load: mean=5.10s, total=5.10s, count=1, min=5099.6ms, max=5099.6ms + save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4390.9ms, max=4390.9ms + scene_env_create: mean=3.37s, total=3.37s, count=1, min=3366.2ms, max=3366.2ms + scene_compile: mean=1.49s, total=1.49s, count=1, min=1491.9ms, max=1491.9ms + task_specific_sample: mean=1.13s, total=1.13s, count=1, min=1127.9ms, max=1127.9ms + compile_mujoco: mean=964.0ms, total=964.0ms, count=1, min=964.0ms, max=964.0ms + compile_aux_objects: mean=252.4ms, total=252.4ms, count=1, min=252.4ms, max=252.4ms + compile_aux_policy_objects: mean=252.3ms, total=252.3ms, count=1, min=252.3ms, max=252.3ms + compile_xml_load: mean=240.6ms, total=240.6ms, count=1, min=240.6ms, max=240.6ms + scene_init: mean=149.5ms, total=149.5ms, count=1, min=149.5ms, max=149.5ms + scene_asset_install: mean=91.7ms, total=91.7ms, count=1, min=91.7ms, max=91.7ms + asset_install_grasps: mean=59.0ms, total=59.0ms, count=1, min=59.0ms, max=59.0ms + asset_install_objects: mean=25.7ms, total=25.7ms, count=1, min=25.7ms, max=25.7ms + compile_robot_add: mean=17.2ms, total=17.2ms, count=1, min=17.2ms, max=17.2ms + asset_install_scene: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=566.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=52.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/11 15:33:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:33:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:33:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.48s (batch: 4.41s, save: 11.08s) [pipeline.py: 300] +05/11 15:33:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:33:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:33:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.51s (batch: 3.80s, save: 11.72s) [pipeline.py: 300] +05/11 15:33:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:33:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:33:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:33:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:33:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:33:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:33:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:33:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:33:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018940m [env.py: 870] +05/11 15:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:33:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91382098 0.75782752 0.01894022] yaw=-165.0deg [env.py: 1019] +05/11 15:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:33:57 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=7.58s: + episode_total: mean=238.43s, total=238.43s, count=1, min=238425.8ms, max=238425.8ms + sensor_polling: mean=434.9ms, total=130.46s, count=300, min=338.5ms, max=764.2ms + save_trajectories: mean=11.08s, total=11.08s, count=1, min=11076.3ms, max=11076.3ms + physics_step: mean=30.1ms, total=9.02s, count=300, min=20.1ms, max=110.6ms + task_sampling: mean=7.58s, total=7.58s, count=1, min=7575.5ms, max=7575.5ms + scene_load: mean=6.34s, total=6.34s, count=1, min=6339.6ms, max=6339.6ms + save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4405.6ms, max=4405.6ms + scene_env_create: mean=3.68s, total=3.68s, count=1, min=3679.5ms, max=3679.5ms + scene_compile: mean=2.41s, total=2.41s, count=1, min=2406.6ms, max=2406.6ms + task_specific_sample: mean=1.23s, total=1.23s, count=1, min=1231.6ms, max=1231.6ms + compile_mujoco: mean=1.15s, total=1.15s, count=1, min=1146.7ms, max=1146.7ms + compile_xml_load: mean=1.06s, total=1.06s, count=1, min=1063.3ms, max=1063.3ms + scene_init: mean=149.3ms, total=149.3ms, count=1, min=149.3ms, max=149.3ms + compile_aux_objects: mean=118.7ms, total=118.7ms, count=1, min=118.7ms, max=118.7ms + compile_aux_policy_objects: mean=118.6ms, total=118.6ms, count=1, min=118.6ms, max=118.6ms + scene_asset_install: mean=103.8ms, total=103.8ms, count=1, min=103.8ms, max=103.8ms + asset_install_grasps: mean=61.2ms, total=61.2ms, count=1, min=61.2ms, max=61.2ms + compile_robot_add: mean=33.5ms, total=33.5ms, count=1, min=33.5ms, max=33.5ms + asset_install_objects: mean=21.8ms, total=21.8ms, count=1, min=21.8ms, max=21.8ms + asset_install_scene: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=562.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=42.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93353438 0.81680342 0.01894022] yaw=-162.5deg [env.py: 1019] +05/11 15:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96974163 1.03878014 0.01894022] yaw=-131.5deg [env.py: 1019] +05/11 15:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:33:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=173.3ms, total=173.3ms [env.py: 1075] +05/11 15:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.758, 0.019) [env.py: 1079] +05/11 15:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.0 deg [env.py: 1082] +05/11 15:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/11 15:33:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:33:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:33:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:33:57 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 15:33:57 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=7.56s: + episode_total: mean=238.80s, total=238.80s, count=1, min=238803.7ms, max=238803.7ms + sensor_polling: mean=447.8ms, total=132.10s, count=295, min=353.0ms, max=706.2ms + save_trajectories: mean=11.72s, total=11.72s, count=1, min=11716.2ms, max=11716.2ms + physics_step: mean=30.3ms, total=8.93s, count=295, min=22.7ms, max=91.4ms + task_sampling: mean=7.56s, total=7.56s, count=1, min=7557.0ms, max=7557.0ms + scene_load: mean=6.55s, total=6.55s, count=1, min=6545.0ms, max=6545.0ms + save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3797.5ms, max=3797.5ms + scene_env_create: mean=3.58s, total=3.58s, count=1, min=3579.9ms, max=3579.9ms + scene_compile: mean=2.46s, total=2.46s, count=1, min=2455.9ms, max=2455.9ms + compile_mujoco: mean=1.31s, total=1.31s, count=1, min=1311.8ms, max=1311.8ms + task_specific_sample: mean=1.01s, total=1.01s, count=1, min=1008.4ms, max=1008.4ms + compile_xml_load: mean=979.4ms, total=979.4ms, count=1, min=979.4ms, max=979.4ms + scene_init: mean=345.6ms, total=345.6ms, count=1, min=345.6ms, max=345.6ms + scene_asset_install: mean=163.2ms, total=163.2ms, count=1, min=163.2ms, max=163.2ms + asset_install_grasps: mean=137.3ms, total=137.3ms, count=1, min=137.3ms, max=137.3ms + compile_aux_objects: mean=115.0ms, total=115.0ms, count=1, min=115.0ms, max=115.0ms + compile_aux_policy_objects: mean=115.0ms, total=115.0ms, count=1, min=115.0ms, max=115.0ms + compile_robot_add: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms + asset_install_objects: mean=20.5ms, total=20.5ms, count=1, min=20.5ms, max=20.5ms + asset_install_scene: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=637.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=32.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:33:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/11 15:33:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:33:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:33:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:33:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.844s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:33:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.381[m] 83.248[deg] [grasp_sample.py: 539] +05/11 15:33:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:33:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:33:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:33:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:33:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:33:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:33:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:33:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:33:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:33:58 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] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000111m [env.py: 870] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:33:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09719582e+00 9.44190268e-01 1.10644716e-04] yaw=-151.8deg [env.py: 1019] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-9.25279458e-01 7.54618741e-01 1.10644716e-04] yaw=-165.3deg [env.py: 1019] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-7.53273406e-01 3.15104099e-01 1.10644716e-04] yaw=163.3deg [env.py: 1019] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:33:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.8ms, total=150.8ms [env.py: 1075] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.097, 0.944, 0.000) [env.py: 1079] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.8 deg [env.py: 1082] +05/11 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.761m [env.py: 1086] +05/11 15:33:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:33:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:33:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:33:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:33:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:33:58 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 15:33:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/11 15:33:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:33:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:33:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:33:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:33:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:33:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:33:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:33:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:33:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042598m [env.py: 870] +05/11 15:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:33:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:33:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.145s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80248351 0.21746866 0.04259792] yaw=168.3deg [env.py: 1019] +05/11 15:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73749823 0.75923474 0.04259792] yaw=-169.4deg [env.py: 1019] +05/11 15:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:33:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=254.9ms, total=255.0ms [env.py: 1075] +05/11 15:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.802, 0.217, 0.043) [env.py: 1079] +05/11 15:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.3 deg [env.py: 1082] +05/11 15:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m [env.py: 1086] +05/11 15:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:33:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:33:59 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 15:33:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/11 15:33:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:33:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:33:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:33:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.746s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:33:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.338[m] 81.643[deg] [grasp_sample.py: 539] +05/11 15:33:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:34:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:34:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:34:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.638s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:34:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.463[m] 83.741[deg] [grasp_sample.py: 539] +05/11 15:34:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:34:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:34:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:34:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:34:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:34:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:34:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.96s (batch: 3.95s, save: 12.01s) [pipeline.py: 300] +05/11 15:34:02 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=7.47s: + episode_total: mean=243.98s, total=243.98s, count=1, min=243982.2ms, max=243982.2ms + sensor_polling: mean=447.0ms, total=134.11s, count=300, min=345.4ms, max=785.0ms + save_trajectories: mean=12.01s, total=12.01s, count=1, min=12007.2ms, max=12007.2ms + physics_step: mean=31.7ms, total=9.50s, count=300, min=22.1ms, max=100.6ms + task_sampling: mean=7.47s, total=7.47s, count=1, min=7471.8ms, max=7471.8ms + scene_load: mean=6.33s, total=6.33s, count=1, min=6325.9ms, max=6325.9ms + save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3950.8ms, max=3950.8ms + scene_env_create: mean=3.48s, total=3.48s, count=1, min=3476.1ms, max=3476.1ms + scene_compile: mean=2.48s, total=2.48s, count=1, min=2478.0ms, max=2478.0ms + compile_mujoco: mean=1.39s, total=1.39s, count=1, min=1390.5ms, max=1390.5ms + task_specific_sample: mean=1.14s, total=1.14s, count=1, min=1142.7ms, max=1142.7ms + compile_xml_load: mean=910.2ms, total=910.2ms, count=1, min=910.2ms, max=910.2ms + scene_asset_install: mean=210.0ms, total=210.0ms, count=1, min=210.0ms, max=210.0ms + scene_init: mean=161.5ms, total=161.5ms, count=1, min=161.5ms, max=161.5ms + asset_install_objects: mean=140.4ms, total=140.4ms, count=1, min=140.4ms, max=140.4ms + compile_aux_objects: mean=123.4ms, total=123.4ms, count=1, min=123.4ms, max=123.4ms + compile_aux_policy_objects: mean=123.4ms, total=123.4ms, count=1, min=123.4ms, max=123.4ms + asset_install_grasps: mean=59.0ms, total=59.0ms, count=1, min=59.0ms, max=59.0ms + compile_robot_add: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms + asset_install_scene: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=575.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=36.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:34:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:34:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:34:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:34:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:34:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:34:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:34:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:34:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:34:04 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] +05/11 15:34:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:34:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017088m [env.py: 870] +05/11 15:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:34:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80970012 0.83320521 0.01708842] yaw=-160.8deg [env.py: 1019] +05/11 15:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:34:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=403.8ms, total=403.8ms [env.py: 1075] +05/11 15:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.810, 0.833, 0.017) [env.py: 1079] +05/11 15:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.8 deg [env.py: 1082] +05/11 15:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/11 15:34:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:34:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:34:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:34:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:34:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:34:04 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 15:34:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/11 15:34:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:34:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:34:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:34:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.950s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:34:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.519[m] 82.050[deg] [grasp_sample.py: 539] +05/11 15:34:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:34:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:34:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:34:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:34:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:34:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:34:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:34:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:34:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:34:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:34:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:34:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:34:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:34:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:35:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:35:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:35:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:36:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:36:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:36:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:36:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:36:06 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 15:36:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:36:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:36:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:36:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.149s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 15:36:08 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.842s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:36:08 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.482[deg] [grasp_sample.py: 539] +05/11 15:36:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:36:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:36:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:36:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:36:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:36:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:36:13 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:36:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:36:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:36:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:36:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:36:18 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:36:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:36:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:36:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:36:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:36:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:36:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:36:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 15:36:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:36:23 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.953s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:36:23 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.332[deg] [grasp_sample.py: 539] +05/11 15:36:24 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:36:24 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:36:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:36:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:36:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:36:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:36:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:36:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:36:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:36:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:36:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033001m [env.py: 870] +05/11 15:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:36:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82988335 0.95258711 0.03300057] yaw=-140.3deg [env.py: 1019] +05/11 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73682177 0.39988567 0.03300057] yaw=177.6deg [env.py: 1019] +05/11 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:36:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.4ms, total=241.5ms [env.py: 1075] +05/11 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.830, 0.953, 0.033) [env.py: 1079] +05/11 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.3 deg [env.py: 1082] +05/11 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m [env.py: 1086] +05/11 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:36:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:36:26 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 15:36:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 15:36:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:36:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:36:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:36:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.471s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:36:30 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.625[m] 93.569[deg] [grasp_sample.py: 539] +05/11 15:36:31 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:36:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:36:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:36:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:36:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:36:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:36:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:36:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:36:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:36:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071764m [env.py: 870] +05/11 15:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:36:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91845614 0.84228961 0.0717641 ] yaw=-162.3deg [env.py: 1019] +05/11 15:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02529027 0.84681254 0.0717641 ] yaw=-160.1deg [env.py: 1019] +05/11 15:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:36:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.5ms, total=186.6ms [env.py: 1075] +05/11 15:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.918, 0.842, 0.072) [env.py: 1079] +05/11 15:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.3 deg [env.py: 1082] +05/11 15:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/11 15:36:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:36:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:36:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:36:33 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 15:36:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/11 15:36:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:36:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:36:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:36:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.872s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:36:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.433[m] 77.507[deg] [grasp_sample.py: 539] +05/11 15:36:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:36:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:36:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:36:41 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:36:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 15:36:41 INFO: [Worker 0] Preparing episode data: 297 timesteps [save_utils.py: 278] +05/11 15:36:46 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:36:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 15:36:46 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:36:52 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:36:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 15:36:52 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:36:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:36:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:36:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.19s (batch: 3.84s, save: 11.35s) [pipeline.py: 300] +05/11 15:36:56 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.44s: + episode_total: mean=180.06s, total=180.06s, count=1, min=180062.5ms, max=180062.5ms + sensor_polling: mean=417.9ms, total=123.70s, count=296, min=347.4ms, max=719.4ms + save_trajectories: mean=11.35s, total=11.35s, count=1, min=11350.0ms, max=11350.0ms + physics_step: mean=27.6ms, total=8.18s, count=296, min=22.3ms, max=94.2ms + save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3841.0ms, max=3841.0ms + task_sampling: mean=443.2ms, total=443.2ms, count=1, min=443.2ms, max=443.2ms + task_specific_sample: mean=439.4ms, total=439.4ms, count=1, min=439.4ms, max=439.4ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=460.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:36:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:36:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:36:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:36:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:36:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:36:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:36:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:36:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:36:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015649m [env.py: 870] +05/11 15:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:36:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02499234 1.13726531 0.01564853] yaw=-144.9deg [env.py: 1019] +05/11 15:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6499618 0.68620613 0.01564853] yaw=-173.9deg [env.py: 1019] +05/11 15:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9864825 0.78158203 0.01564853] yaw=-152.4deg [env.py: 1019] +05/11 15:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:36:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=174.6ms, total=174.7ms [env.py: 1075] +05/11 15:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.025, 1.137, 0.016) [env.py: 1079] +05/11 15:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.9 deg [env.py: 1082] +05/11 15:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/11 15:36:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:36:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:36:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:36:58 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 15:36:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/11 15:36:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:36:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:36:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:37:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:37:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:37:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.08s (batch: 3.57s, save: 11.51s) [pipeline.py: 300] +05/11 15:37:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.482s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:37:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.559[m] 100.394[deg] [grasp_sample.py: 539] +05/11 15:37:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:37:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:37:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:37:02 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.67s: + episode_total: mean=177.92s, total=177.92s, count=1, min=177916.0ms, max=177916.0ms + sensor_polling: mean=405.8ms, total=121.73s, count=300, min=327.9ms, max=731.3ms + save_trajectories: mean=11.51s, total=11.51s, count=1, min=11508.7ms, max=11508.7ms + physics_step: mean=26.7ms, total=8.02s, count=300, min=21.7ms, max=69.7ms + save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3573.0ms, max=3573.0ms + task_sampling: mean=666.5ms, total=666.5ms, count=1, min=666.5ms, max=666.5ms + task_specific_sample: mean=662.6ms, total=662.6ms, count=1, min=662.6ms, max=662.6ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=459.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + 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] +05/11 15:37:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:37:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:37:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:37:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:37:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:37:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:37:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:37:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:37:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:37:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:37:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:37:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088280m [env.py: 870] +05/11 15:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:37:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15054804 1.06390654 0.0882801 ] yaw=-139.6deg [env.py: 1019] +05/11 15:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67321096 0.45429354 0.0882801 ] yaw=174.6deg [env.py: 1019] +05/11 15:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07139615 0.9452443 0.0882801 ] yaw=-139.3deg [env.py: 1019] +05/11 15:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:37:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.3ms, total=82.4ms [env.py: 1075] +05/11 15:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.151, 1.064, 0.088) [env.py: 1079] +05/11 15:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.6 deg [env.py: 1082] +05/11 15:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/11 15:37:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:37:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:37:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:37:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:37:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:37:03 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 15:37:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/11 15:37:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:37:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:37:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:37:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.649s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:37:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.384[m] 89.932[deg] [grasp_sample.py: 539] +05/11 15:37:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:37:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:37:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:37:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:37:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:37:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.93s (batch: 4.04s, save: 11.89s) [pipeline.py: 300] +05/11 15:37:09 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.56s: + episode_total: mean=190.04s, total=190.04s, count=1, min=190041.9ms, max=190041.9ms + sensor_polling: mean=413.3ms, total=123.98s, count=300, min=342.6ms, max=674.3ms + save_trajectories: mean=11.89s, total=11.89s, count=1, min=11894.9ms, max=11894.9ms + physics_step: mean=28.5ms, total=8.56s, count=300, min=20.7ms, max=65.1ms + save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4035.4ms, max=4035.4ms + task_sampling: mean=556.3ms, total=556.3ms, count=1, min=556.3ms, max=556.3ms + task_specific_sample: mean=552.4ms, total=552.4ms, count=1, min=552.4ms, max=552.4ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=478.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:37:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:37:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:37:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:37:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:37:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:37:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:37:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:37:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:37:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039051m [env.py: 870] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:37:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82358415 0.87348934 0.03905064] yaw=-160.8deg [env.py: 1019] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69212831 0.42811024 0.03905064] yaw=186.8deg [env.py: 1019] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.72042638 0.51856378 0.03905064] yaw=-183.5deg [env.py: 1019] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:37:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=359.4ms, total=359.5ms [env.py: 1075] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.824, 0.873, 0.039) [env.py: 1079] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.8 deg [env.py: 1082] +05/11 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/11 15:37:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:37:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:37:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:37:11 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 15:37:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.196s [base_object_manipulation_planner_policy.py: 377] +05/11 15:37:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:37:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:37:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:37:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:37:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.693s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:37:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.502[m] 88.939[deg] [grasp_sample.py: 539] +05/11 15:37:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:37:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:37:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:37:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:37:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:37:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:37:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:37:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:37:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:37:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:38:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:38:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:38:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:38:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:38:47 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:38:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:38:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:39:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:39:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:39:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:39:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:39:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:39:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:39:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:39:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:39:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:39:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:39:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:39:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:39:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:39:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:39:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:39:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 15:39:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:39:11 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.268s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:39:11 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.269[deg] [grasp_sample.py: 539] +05/11 15:39:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:39:13 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:39:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:39:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:39:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:39:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:39:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:39:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 15:39:14 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:39:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 15:39:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:39:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:39:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:39:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:39:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:39:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:39:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:39:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:39:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:39:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016608m [env.py: 870] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:39:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81541796 0.44639153 0.0166082 ] yaw=171.6deg [env.py: 1019] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65514204 0.43808049 0.0166082 ] yaw=179.3deg [env.py: 1019] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92263414 0.15452757 0.0166082 ] yaw=158.8deg [env.py: 1019] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:39:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=286.4ms, total=286.4ms [env.py: 1075] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.446, 0.017) [env.py: 1079] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.6 deg [env.py: 1082] +05/11 15:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m [env.py: 1086] +05/11 15:39:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:39:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:39:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:39:15 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 15:39:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/11 15:39:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:39:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:39:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:39:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.684s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:39:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.466[m] 94.055[deg] [grasp_sample.py: 539] +05/11 15:39:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:39:16 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.323s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:39:16 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.096[m] 1.434[deg] [grasp_sample.py: 539] +05/11 15:39:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:39:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:39:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:39:17 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:39:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:39:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:39:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:39:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:39:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:39:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:39:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:39:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:39:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031443m [env.py: 870] +05/11 15:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:39:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07417429 0.94796598 0.0314431 ] yaw=-154.4deg [env.py: 1019] +05/11 15:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74183621 0.92191506 0.0314431 ] yaw=-147.0deg [env.py: 1019] +05/11 15:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8669808 0.05499037 0.0314431 ] yaw=154.5deg [env.py: 1019] +05/11 15:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:39:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=598.3ms, total=598.3ms [env.py: 1075] +05/11 15:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.074, 0.948, 0.031) [env.py: 1079] +05/11 15:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.4 deg [env.py: 1082] +05/11 15:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m [env.py: 1086] +05/11 15:39:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:39:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:39:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:39:20 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 15:39:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/11 15:39:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:39:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:39:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:39:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.616s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:39:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.337[m] 84.844[deg] [grasp_sample.py: 539] +05/11 15:39:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:39:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:39:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:39:25 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:39:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:39:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:39:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 17.48s (batch: 4.82s, save: 12.65s) [pipeline.py: 300] +05/11 15:39:32 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.44s: + episode_total: mean=110.38s, total=331.13s, count=3, min=5367.0ms, max=179702.6ms + sensor_polling: mean=410.6ms, total=241.03s, count=587, min=325.1ms, max=793.1ms + physics_step: mean=27.3ms, total=16.02s, count=587, min=17.4ms, max=95.2ms + save_trajectories: mean=12.65s, total=12.65s, count=1, min=12653.8ms, max=12653.8ms + save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4824.4ms, max=4824.4ms + task_sampling: mean=480.1ms, total=1.44s, count=3, min=434.6ms, max=533.0ms + task_specific_sample: mean=476.4ms, total=1.43s, count=3, min=430.7ms, max=529.8ms + scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.3ms, max=2.6ms + mj_forward_sync: mean=465.2us, total=1.4ms, count=3, min=0.5ms, max=0.5ms + policy_setup: mean=22.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:39:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:39:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:39:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:39:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:39:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:39:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:39:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:39:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:39:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:39:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:39:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046905m [env.py: 870] +05/11 15:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:39:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73824434 0.4557904 0.04690481] yaw=187.9deg [env.py: 1019] +05/11 15:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.22002345 1.07410303 0.04690481] yaw=-122.8deg [env.py: 1019] +05/11 15:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.61421427 0.58449099 0.04690481] yaw=-179.3deg [env.py: 1019] +05/11 15:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:39:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=86.1ms, total=86.2ms [env.py: 1075] +05/11 15:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.738, 0.456, 0.047) [env.py: 1079] +05/11 15:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.9 deg [env.py: 1082] +05/11 15:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m [env.py: 1086] +05/11 15:39:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:39:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:39:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:39:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:39:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:39:34 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 15:39:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/11 15:39:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:39:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:39:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:39:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.826s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:39:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.563[m] 91.673[deg] [grasp_sample.py: 539] +05/11 15:39:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:39:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:39:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:39:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:39:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:39:55 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:39:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 15:39:55 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:39:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:40:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:40:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:40:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:40:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:40:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:40:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 17.42s (batch: 4.75s, save: 12.67s) [pipeline.py: 300] +05/11 15:40:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:40:13 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.69s: + episode_total: mean=183.18s, total=183.18s, count=1, min=183175.1ms, max=183175.1ms + sensor_polling: mean=405.6ms, total=121.69s, count=300, min=330.0ms, max=855.3ms + save_trajectories: mean=12.67s, total=12.67s, count=1, min=12674.8ms, max=12674.8ms + physics_step: mean=26.0ms, total=7.79s, count=300, min=20.7ms, max=45.3ms + save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4748.8ms, max=4748.8ms + task_sampling: mean=687.2ms, total=687.2ms, count=1, min=687.2ms, max=687.2ms + task_specific_sample: mean=683.1ms, total=683.1ms, count=1, min=683.1ms, max=683.1ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=457.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=38.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:40:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:40:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:40:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:40:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:40:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:40:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:40:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:40:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:40:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018650m [env.py: 870] +05/11 15:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:40:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64300524 0.25712596 0.01865006] yaw=157.0deg [env.py: 1019] +05/11 15:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05425047 0.91901232 0.01865006] yaw=-146.9deg [env.py: 1019] +05/11 15:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89222434 0.57655293 0.01865006] yaw=-175.6deg [env.py: 1019] +05/11 15:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:40:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=126.4ms, total=126.5ms [env.py: 1075] +05/11 15:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.643, 0.257, 0.019) [env.py: 1079] +05/11 15:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.0 deg [env.py: 1082] +05/11 15:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/11 15:40:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:40:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:40:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:40:15 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 15:40:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/11 15:40:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:40:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:40:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:40:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.294s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:40:18 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.677[m] 93.176[deg] [grasp_sample.py: 539] +05/11 15:40:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:40:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:40:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:40:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:40:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:40:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:40:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:41:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:41:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:41:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:41:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:41:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:41:31 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:41:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:41:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:41:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:41:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:41:36 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:41:50 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:41:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:41:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:41:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:42:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:42:02 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:42:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 15:42:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:42:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:42:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:42:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:42:05 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:42:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 15:42:05 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/11 15:42:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:42:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:42:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:42:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:42:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:42:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 15:42:08 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.741s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:42:08 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.321[deg] [grasp_sample.py: 539] +05/11 15:42:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:42:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:42:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:42:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:42:17 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:42:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 15:42:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:42:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:42:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:42:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 16.27s (batch: 4.91s, save: 11.35s) [pipeline.py: 300] +05/11 15:42:18 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.96s: + episode_total: mean=156.90s, total=313.79s, count=2, min=129592.7ms, max=184198.7ms + sensor_polling: mean=409.4ms, total=228.44s, count=558, min=313.8ms, max=945.5ms + physics_step: mean=28.0ms, total=15.60s, count=558, min=17.1ms, max=89.4ms + save_trajectories: mean=11.35s, total=11.35s, count=1, min=11353.2ms, max=11353.2ms + save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4913.8ms, max=4913.8ms + task_sampling: mean=481.6ms, total=963.3ms, count=2, min=380.6ms, max=582.7ms + task_specific_sample: mean=478.2ms, total=956.5ms, count=2, min=376.9ms, max=579.6ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.4ms, max=2.4ms + mj_forward_sync: mean=502.5us, total=1.0ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=20.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:42:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:42:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:42:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:42:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:42:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:42:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:42:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:42:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:42:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082784m [env.py: 870] +05/11 15:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:42:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96218262 1.19336541 0.08278387] yaw=-141.4deg [env.py: 1019] +05/11 15:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82755744 0.08813664 0.08278387] yaw=154.1deg [env.py: 1019] +05/11 15:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95134285 0.23962276 0.08278387] yaw=152.4deg [env.py: 1019] +05/11 15:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:42:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.3ms, total=184.3ms [env.py: 1075] +05/11 15:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.962, 1.193, 0.083) [env.py: 1079] +05/11 15:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.4 deg [env.py: 1082] +05/11 15:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m [env.py: 1086] +05/11 15:42:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:42:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:42:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:42:20 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 15:42:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/11 15:42:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:42:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:42:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:42:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:42:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:42:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:42:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.90s (batch: 4.63s, save: 11.27s) [pipeline.py: 300] +05/11 15:42:22 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.38s: + episode_total: mean=161.00s, total=322.01s, count=2, min=139376.4ms, max=182632.4ms + sensor_polling: mean=409.7ms, total=226.98s, count=554, min=338.1ms, max=792.2ms + physics_step: mean=27.0ms, total=14.98s, count=554, min=16.9ms, max=96.2ms + save_trajectories: mean=11.27s, total=11.27s, count=1, min=11270.1ms, max=11270.1ms + save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4625.6ms, max=4625.6ms + task_sampling: mean=688.3ms, total=1.38s, count=2, min=485.8ms, max=890.8ms + task_specific_sample: mean=684.8ms, total=1.37s, count=2, min=482.1ms, max=887.5ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.4ms, max=2.4ms + mj_forward_sync: mean=501.6us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=21.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:42:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.411s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:42:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.645[m] 97.414[deg] [grasp_sample.py: 539] +05/11 15:42:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:42:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:42:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:42:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:42:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:42:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:42:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:42:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:42:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:42:24 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] +05/11 15:42:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:42:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082406m [env.py: 870] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:42:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89753489 1.18911416 0.08240617] yaw=-134.7deg [env.py: 1019] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99024051 0.93530402 0.08240617] yaw=-148.5deg [env.py: 1019] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.80588179 0.25631031 0.08240617] yaw=157.1deg [env.py: 1019] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:42:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=202.6ms, total=202.7ms [env.py: 1075] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.898, 1.189, 0.082) [env.py: 1079] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.7 deg [env.py: 1082] +05/11 15:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/11 15:42:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:42:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:42:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:42:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:42:24 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 15:42:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/11 15:42:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:42:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:42:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:42:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.649s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:42:28 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.710[m] 95.319[deg] [grasp_sample.py: 539] +05/11 15:42:29 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:42:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:42:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:42:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:42:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:42:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:42:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:42:31 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] +05/11 15:42:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:42:31 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] +05/11 15:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048151m [env.py: 870] +05/11 15:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:42:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65145806 0.73692381 0.04815091] yaw=-166.0deg [env.py: 1019] +05/11 15:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8976922 0.66408805 0.04815091] yaw=-164.7deg [env.py: 1019] +05/11 15:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91630534 0.29181837 0.04815091] yaw=176.3deg [env.py: 1019] +05/11 15:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:42:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.5ms, total=140.5ms [env.py: 1075] +05/11 15:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.651, 0.737, 0.048) [env.py: 1079] +05/11 15:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.0 deg [env.py: 1082] +05/11 15:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m [env.py: 1086] +05/11 15:42:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:42:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:42:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:42:31 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 15:42:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/11 15:42:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:42:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:42:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:42:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.335s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:42:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.623[m] 87.417[deg] [grasp_sample.py: 539] +05/11 15:42:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:42:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:42:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:42:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:42:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:42:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:42:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 16.73s (batch: 4.77s, save: 11.95s) [pipeline.py: 300] +05/11 15:42:35 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.39s: + episode_total: mean=180.93s, total=180.93s, count=1, min=180932.8ms, max=180932.8ms + sensor_polling: mean=412.1ms, total=123.62s, count=300, min=327.2ms, max=825.4ms + save_trajectories: mean=11.95s, total=11.95s, count=1, min=11952.2ms, max=11952.2ms + physics_step: mean=27.1ms, total=8.13s, count=300, min=22.2ms, max=68.3ms + save_batch_prep: mean=4.77s, total=4.77s, count=1, min=4774.5ms, max=4774.5ms + task_sampling: mean=392.0ms, total=392.0ms, count=1, min=392.0ms, max=392.0ms + task_specific_sample: mean=387.5ms, total=387.5ms, count=1, min=387.5ms, max=387.5ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=573.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + 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] +05/11 15:42:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:42:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:42:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:42:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:42:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:42:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:42:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:42:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:42:37 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] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066915m [env.py: 870] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:42:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82184865 1.08940959 0.06691457] yaw=-154.9deg [env.py: 1019] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97273304 0.85881066 0.06691457] yaw=-162.7deg [env.py: 1019] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.88941233 0.11311851 0.06691457] yaw=165.1deg [env.py: 1019] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:42:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=252.6ms, total=252.6ms [env.py: 1075] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.822, 1.089, 0.067) [env.py: 1079] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.9 deg [env.py: 1082] +05/11 15:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m [env.py: 1086] +05/11 15:42:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:42:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:42:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:42:37 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 15:42:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/11 15:42:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:42:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:42:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:42:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.474s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:42:41 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.679[m] 87.267[deg] [grasp_sample.py: 539] +05/11 15:42:42 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:42:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:42:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:42:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:42:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:42:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:42:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:42:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:42:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:42:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065110m [env.py: 870] +05/11 15:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:42:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96653814 0.1118433 0.06510995] yaw=157.1deg [env.py: 1019] +05/11 15:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05205502 1.13220156 0.06510995] yaw=-134.6deg [env.py: 1019] +05/11 15:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7952465 0.35825136 0.06510995] yaw=161.6deg [env.py: 1019] +05/11 15:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:42:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.4ms, total=143.4ms [env.py: 1075] +05/11 15:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.112, 0.065) [env.py: 1079] +05/11 15:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.1 deg [env.py: 1082] +05/11 15:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/11 15:42:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:42:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:42:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:42:44 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 15:42:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s [base_object_manipulation_planner_policy.py: 377] +05/11 15:42:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:42:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:42:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:42:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.703s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:42:45 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.413[m] 90.658[deg] [grasp_sample.py: 539] +05/11 15:42:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:42:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:42:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:42:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:42:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:42:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:42:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:42:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:43:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:43:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:43:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:43:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:43:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:43:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:43:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:43:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 15:43:10 INFO: [Worker 0] Feasibility-checked 76 grasps in 4.935s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:43:10 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.036[m] 10.368[deg] [grasp_sample.py: 539] +05/11 15:43:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:43:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:43:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:43:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:43:16 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 15:43:16 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=0.45s: + episode_total: mean=180.82s, total=180.82s, count=1, min=180817.4ms, max=180817.4ms + sensor_polling: mean=409.8ms, total=122.95s, count=300, min=349.4ms, max=816.7ms + physics_step: mean=26.6ms, total=7.97s, count=300, min=16.9ms, max=69.3ms + task_sampling: mean=449.9ms, total=449.9ms, count=1, min=449.9ms, max=449.9ms + task_specific_sample: mean=445.3ms, total=445.3ms, count=1, min=445.3ms, max=445.3ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=654.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=38.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:43:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:43:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:43:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:43:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:43:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:43:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:43:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:43:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:43:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074951m [env.py: 870] +05/11 15:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:43:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62626909 0.3326816 0.07495088] yaw=172.2deg [env.py: 1019] +05/11 15:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88209193 0.85215496 0.07495088] yaw=-148.3deg [env.py: 1019] +05/11 15:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:43:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=217.1ms, total=217.2ms [env.py: 1075] +05/11 15:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.626, 0.333, 0.075) [env.py: 1079] +05/11 15:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.2 deg [env.py: 1082] +05/11 15:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/11 15:43:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:43:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:43:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:43:18 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 15:43:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/11 15:43:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:43:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:43:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:43:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.966s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:43:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.616[m] 88.074[deg] [grasp_sample.py: 539] +05/11 15:43:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:43:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:43:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:43:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:43:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:43:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:43:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:43:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:43:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:43:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:43:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:43:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:43:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:44:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:44:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:44:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:44:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:44:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:44:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:44:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:44:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 15:44:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.364s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:44:33 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.114[m] 3.265[deg] [grasp_sample.py: 539] +05/11 15:44:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:44:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:44:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:44:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:44:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:44:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:44:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:44:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 82 non-colliding grasps [grasp_sample.py: 465] +05/11 15:44:37 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.512s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:44:37 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.028[m] 1.205[deg] [grasp_sample.py: 539] +05/11 15:44:39 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:44:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:44:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:44:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:44:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:44:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:44:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:44:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:44:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:44:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035804m [env.py: 870] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:44:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81426043 0.0901248 0.03580419] yaw=152.3deg [env.py: 1019] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96394512 0.99641692 0.03580419] yaw=-136.2deg [env.py: 1019] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88188338 0.57773103 0.03580419] yaw=-176.1deg [env.py: 1019] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:44:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=255.5ms, total=255.6ms [env.py: 1075] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.814, 0.090, 0.036) [env.py: 1079] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.3 deg [env.py: 1082] +05/11 15:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/11 15:44:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:44:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:44:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:44:41 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 15:44:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/11 15:44:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:44:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:44:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:44:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.826s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:44:42 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.546[m] 93.067[deg] [grasp_sample.py: 539] +05/11 15:44:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:44:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:44:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:44:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:44:45 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:44:50 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:45:12 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:45:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 15:45:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:45:17 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:45:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 15:45:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:45:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:45:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:45:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 14.64s (batch: 3.66s, save: 10.98s) [pipeline.py: 300] +05/11 15:45:27 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.96s: + episode_total: mean=90.96s, total=181.92s, count=2, min=5683.8ms, max=176236.5ms + sensor_polling: mean=405.1ms, total=121.54s, count=300, min=337.0ms, max=827.2ms + save_trajectories: mean=10.98s, total=10.98s, count=1, min=10977.6ms, max=10977.6ms + physics_step: mean=26.1ms, total=7.82s, count=300, min=17.3ms, max=40.2ms + save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3664.7ms, max=3664.7ms + task_sampling: mean=477.8ms, total=955.6ms, count=2, min=398.3ms, max=557.3ms + task_specific_sample: mean=474.3ms, total=948.6ms, count=2, min=395.4ms, max=553.2ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms + mj_forward_sync: mean=509.3us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=21.8us, 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] +05/11 15:45:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:45:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:45:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:45:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:45:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:45:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:45:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:45:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:45:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:45:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019549m [env.py: 870] +05/11 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:45:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00441022 1.08422639 0.01954885] yaw=-138.5deg [env.py: 1019] +05/11 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77106961 0.78906858 0.01954885] yaw=-169.7deg [env.py: 1019] +05/11 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8594272 0.57340803 0.01954885] yaw=-172.8deg [env.py: 1019] +05/11 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:45:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.4ms, total=117.5ms [env.py: 1075] +05/11 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.004, 1.084, 0.020) [env.py: 1079] +05/11 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.5 deg [env.py: 1082] +05/11 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/11 15:45:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:45:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:45:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:45:29 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 15:45:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/11 15:45:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:45:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:45:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:45:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.037s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:45:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.492[m] 89.568[deg] [grasp_sample.py: 539] +05/11 15:45:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:45:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:45:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:45:31 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:45:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:45:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:45:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 17.23s (batch: 4.44s, save: 12.79s) [pipeline.py: 300] +05/11 15:45:34 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s: + episode_total: mean=194.76s, total=194.76s, count=1, min=194759.0ms, max=194759.0ms + sensor_polling: mean=412.2ms, total=123.65s, count=300, min=334.7ms, max=832.2ms + save_trajectories: mean=12.79s, total=12.79s, count=1, min=12792.3ms, max=12792.3ms + physics_step: mean=26.0ms, total=7.79s, count=300, min=21.7ms, max=62.0ms + save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4438.4ms, max=4438.4ms + task_sampling: mean=472.6ms, total=472.6ms, count=1, min=472.6ms, max=472.6ms + task_specific_sample: mean=468.4ms, total=468.4ms, count=1, min=468.4ms, max=468.4ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=460.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:45:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:45:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:45:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:45:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:45:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:45:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:45:36 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] +05/11 15:45:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:45:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002342m [env.py: 870] +05/11 15:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:45:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90847602 0.38437046 0.00234209] yaw=165.9deg [env.py: 1019] +05/11 15:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94152715 0.86196792 0.00234209] yaw=-148.4deg [env.py: 1019] +05/11 15:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-7.20273053e-01 -6.37191319e-04 2.34208573e-03] yaw=148.3deg [env.py: 1019] +05/11 15:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:45:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.3ms, total=107.3ms [env.py: 1075] +05/11 15:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.908, 0.384, 0.002) [env.py: 1079] +05/11 15:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.9 deg [env.py: 1082] +05/11 15:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m [env.py: 1086] +05/11 15:45:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:45:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:45:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:45:36 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 15:45:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/11 15:45:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:45:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:45:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:45:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:45:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.709s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:45:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.348[m] 86.051[deg] [grasp_sample.py: 539] +05/11 15:45:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:45:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:45:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:45:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:45:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:46:01 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:46:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 15:46:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:46:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:46:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:46:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:46:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:46:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:46:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 16.71s (batch: 4.26s, save: 12.45s) [pipeline.py: 300] +05/11 15:46:19 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.50s: + episode_total: mean=181.21s, total=181.21s, count=1, min=181210.4ms, max=181210.4ms + sensor_polling: mean=401.0ms, total=120.31s, count=300, min=338.8ms, max=1399.5ms + save_trajectories: mean=12.45s, total=12.45s, count=1, min=12448.2ms, max=12448.2ms + physics_step: mean=27.8ms, total=8.35s, count=300, min=22.0ms, max=79.1ms + save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4265.0ms, max=4265.0ms + task_sampling: mean=504.2ms, total=504.2ms, count=1, min=504.2ms, max=504.2ms + task_specific_sample: mean=500.6ms, total=500.6ms, count=1, min=500.6ms, max=500.6ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=469.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=25.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:46:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:46:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:46:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:46:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:46:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:46:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:46:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:46:21 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] +05/11 15:46:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:46:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011976m [env.py: 870] +05/11 15:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:46:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7182302 0.27776158 0.01197581] yaw=161.6deg [env.py: 1019] +05/11 15:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66442683 0.17423056 0.01197581] yaw=158.0deg [env.py: 1019] +05/11 15:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74851793 0.66997556 0.01197581] yaw=-169.4deg [env.py: 1019] +05/11 15:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:46:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:46:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=214.0ms, total=214.1ms [env.py: 1075] +05/11 15:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.278, 0.012) [env.py: 1079] +05/11 15:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.6 deg [env.py: 1082] +05/11 15:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/11 15:46:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:46:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:46:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:46:21 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 15:46:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/11 15:46:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:46:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:46:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:46:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.785s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:46:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.546[m] 84.890[deg] [grasp_sample.py: 539] +05/11 15:46:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:46:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:46:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:46:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:46:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:47:00 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:47:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:47:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:47:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:47:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:47:31 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:47:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 15:47:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:47:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:47:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:47:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:47:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:47:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:47:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:47:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:47:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:47:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:47:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:47:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:47:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 15:47:45 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.225s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:47:45 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.212[deg] [grasp_sample.py: 539] +05/11 15:47:46 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:47:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:47:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:47:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 16.23s (batch: 4.29s, save: 11.95s) [pipeline.py: 300] +05/11 15:47:48 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.53s: + episode_total: mean=102.78s, total=308.35s, count=3, min=5457.1ms, max=187930.2ms + sensor_polling: mean=414.9ms, total=209.92s, count=506, min=330.9ms, max=821.4ms + physics_step: mean=27.1ms, total=13.73s, count=506, min=17.4ms, max=58.4ms + save_trajectories: mean=11.95s, total=11.95s, count=1, min=11945.3ms, max=11945.3ms + save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4289.1ms, max=4289.1ms + task_sampling: mean=510.8ms, total=1.53s, count=3, min=417.7ms, max=571.5ms + task_specific_sample: mean=507.3ms, total=1.52s, count=3, min=414.2ms, max=567.2ms + scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.3ms, max=2.5ms + mj_forward_sync: mean=528.7us, total=1.6ms, count=3, min=0.5ms, max=0.7ms + policy_setup: mean=26.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:47:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:47:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:47:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:47:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:47:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:47:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:47:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:47:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:47:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053664m [env.py: 870] +05/11 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:47:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73713177 0.03187674 0.05366381] yaw=148.8deg [env.py: 1019] +05/11 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67050017 0.26181214 0.05366381] yaw=168.1deg [env.py: 1019] +05/11 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77860562 0.06093981 0.05366381] yaw=161.8deg [env.py: 1019] +05/11 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:47:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=386.5ms, total=386.5ms [env.py: 1075] +05/11 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.737, 0.032, 0.054) [env.py: 1079] +05/11 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.8 deg [env.py: 1082] +05/11 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/11 15:47:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:47:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:47:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:47:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:47:49 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:47:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:47:49 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 15:47:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/11 15:47:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:47:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:47:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:47:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:47:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:47:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:47:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:47:50 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] +05/11 15:47:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:47:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063426m [env.py: 870] +05/11 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:47:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80477669 0.29702313 0.06342596] yaw=166.1deg [env.py: 1019] +05/11 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85254492 0.88614387 0.06342596] yaw=-143.6deg [env.py: 1019] +05/11 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6968947 0.5132202 0.06342596] yaw=-175.5deg [env.py: 1019] +05/11 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:47:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.4ms, total=168.5ms [env.py: 1075] +05/11 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.805, 0.297, 0.063) [env.py: 1079] +05/11 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.1 deg [env.py: 1082] +05/11 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/11 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:47:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:47:50 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 15:47:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/11 15:47:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:47:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:47:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:47:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.651s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:47:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.461[m] 92.135[deg] [grasp_sample.py: 539] +05/11 15:47:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:47:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.271s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:47:51 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.662[m] 93.466[deg] [grasp_sample.py: 539] +05/11 15:47:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:47:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:47:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:47:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:47:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:47:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:47:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:48:16 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:48:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 15:48:16 INFO: [Worker 0] Preparing episode data: 291 timesteps [save_utils.py: 278] +05/11 15:48:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:48:35 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:48:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:48:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:48:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 18.52s (batch: 4.05s, save: 14.47s) [pipeline.py: 300] +05/11 15:48:36 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.40s: + episode_total: mean=179.65s, total=179.65s, count=1, min=179646.1ms, max=179646.1ms + sensor_polling: mean=409.4ms, total=118.72s, count=290, min=346.5ms, max=911.9ms + save_trajectories: mean=14.47s, total=14.47s, count=1, min=14467.9ms, max=14467.9ms + physics_step: mean=29.0ms, total=8.40s, count=290, min=17.6ms, max=70.8ms + save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4048.9ms, max=4048.9ms + task_sampling: mean=404.6ms, total=404.6ms, count=1, min=404.6ms, max=404.6ms + task_specific_sample: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=468.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=23.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:48:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:48:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:48:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:48:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:48:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:48:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:48:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:48:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:48:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:48:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:48:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012231m [env.py: 870] +05/11 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:48:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97106815 1.03199395 0.01223132] yaw=-136.7deg [env.py: 1019] +05/11 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71990817 0.15574512 0.01223132] yaw=150.7deg [env.py: 1019] +05/11 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:48:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84134172 0.68855174 0.01223132] yaw=-169.4deg [env.py: 1019] +05/11 15:48:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:48:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:48:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=235.0ms, total=235.1ms [env.py: 1075] +05/11 15:48:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.971, 1.032, 0.012) [env.py: 1079] +05/11 15:48:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.7 deg [env.py: 1082] +05/11 15:48:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m [env.py: 1086] +05/11 15:48:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:48:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:48:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:48:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:48:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:48:38 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 15:48:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.199s [base_object_manipulation_planner_policy.py: 377] +05/11 15:48:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:48:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:48:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:48:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.791s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:48:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.512[m] 91.929[deg] [grasp_sample.py: 539] +05/11 15:48:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:48:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:48:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:48:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:48:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:48:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:49:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:49:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:49:05 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:49:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 15:49:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:49:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:49:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:49:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 16.19s (batch: 4.28s, save: 11.91s) [pipeline.py: 300] +05/11 15:49:22 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.55s: + episode_total: mean=181.67s, total=181.67s, count=1, min=181665.6ms, max=181665.6ms + sensor_polling: mean=399.9ms, total=119.98s, count=300, min=340.6ms, max=948.1ms + save_trajectories: mean=11.91s, total=11.91s, count=1, min=11908.6ms, max=11908.6ms + physics_step: mean=28.7ms, total=8.62s, count=300, min=17.2ms, max=139.2ms + save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4284.4ms, max=4284.4ms + task_sampling: mean=549.6ms, total=549.6ms, count=1, min=549.6ms, max=549.6ms + task_specific_sample: mean=544.2ms, total=544.2ms, count=1, min=544.2ms, max=544.2ms + scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + mj_forward_sync: mean=870.4us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:49:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:49:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:49:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:49:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:49:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:49:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:49:24 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] +05/11 15:49:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:49:24 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] +05/11 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037517m [env.py: 870] +05/11 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:49:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 159.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92204999 0.97791875 0.03751695] yaw=-140.3deg [env.py: 1019] +05/11 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.80201622 0.85053985 0.03751695] yaw=-157.7deg [env.py: 1019] +05/11 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:49:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=246.8ms, total=246.8ms [env.py: 1075] +05/11 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.922, 0.978, 0.038) [env.py: 1079] +05/11 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.3 deg [env.py: 1082] +05/11 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/11 15:49:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:49:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:49:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:49:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:49:25 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 15:49:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/11 15:49:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:49:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:49:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:49:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.820s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:49:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.497[m] 86.153[deg] [grasp_sample.py: 539] +05/11 15:49:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:49:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:49:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:49:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:49:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:49:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:49:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:49:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:49:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:50:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:50:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:50:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:50:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:50:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:50:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:50:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:50:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:50:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.138s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 15:50:10 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.288s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:50:10 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.824[deg] [grasp_sample.py: 539] +05/11 15:50:10 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:50:12 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:50:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:50:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:50:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:50:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:50:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:50:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:50:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:50:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:50:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:50:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:50:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:50:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049890m [env.py: 870] +05/11 15:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:50:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9431117 0.87324968 0.04989025] yaw=-160.9deg [env.py: 1019] +05/11 15:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:50:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=472.3ms, total=472.3ms [env.py: 1075] +05/11 15:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 0.873, 0.050) [env.py: 1079] +05/11 15:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg [env.py: 1082] +05/11 15:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m [env.py: 1086] +05/11 15:50:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:50:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:50:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:50:15 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 15:50:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/11 15:50:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:50:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:50:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.106s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:50:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.822s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:50:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.405[m] 83.258[deg] [grasp_sample.py: 539] +05/11 15:50:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:50:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:50:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:50:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:50:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:50:44 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:50:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 15:50:44 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:50:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:50:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:51:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:51:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:51:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 17.04s (batch: 4.05s, save: 12.98s) [pipeline.py: 300] +05/11 15:51:02 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.14s: + episode_total: mean=165.71s, total=331.42s, count=2, min=137851.7ms, max=193569.5ms + sensor_polling: mean=410.9ms, total=238.72s, count=581, min=327.4ms, max=1071.6ms + physics_step: mean=28.2ms, total=16.36s, count=581, min=17.9ms, max=101.5ms + save_trajectories: mean=12.98s, total=12.98s, count=1, min=12983.4ms, max=12983.4ms + save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4051.6ms, max=4051.6ms + task_sampling: mean=567.8ms, total=1.14s, count=2, min=444.8ms, max=690.8ms + task_specific_sample: mean=564.2ms, total=1.13s, count=2, min=440.8ms, max=687.5ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.5ms + mj_forward_sync: mean=491.6us, total=1.0ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=23.5us, 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] +05/11 15:51:02 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:51:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:51:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:51:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:51:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:51:04 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] +05/11 15:51:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:51:04 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] +05/11 15:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098329m [env.py: 870] +05/11 15:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:51:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93801409 0.79893758 0.09832904] yaw=-149.7deg [env.py: 1019] +05/11 15:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:51:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=587.4ms, total=587.5ms [env.py: 1075] +05/11 15:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.799, 0.098) [env.py: 1079] +05/11 15:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.7 deg [env.py: 1082] +05/11 15:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/11 15:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:51:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:51:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:51:05 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 15:51:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.156s [base_object_manipulation_planner_policy.py: 377] +05/11 15:51:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:51:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:51:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.111s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:51:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.982s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:51:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.392[m] 79.960[deg] [grasp_sample.py: 539] +05/11 15:51:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:51:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:51:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:51:33 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:51:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 15:51:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:51:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:51:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:51:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:51:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 18.99s (batch: 4.37s, save: 14.62s) [pipeline.py: 300] +05/11 15:51:53 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.64s: + episode_total: mean=195.76s, total=195.76s, count=1, min=195764.3ms, max=195764.3ms + sensor_polling: mean=430.9ms, total=129.28s, count=300, min=316.5ms, max=1069.0ms + save_trajectories: mean=14.62s, total=14.62s, count=1, min=14621.5ms, max=14621.5ms + physics_step: mean=29.9ms, total=8.97s, count=300, min=22.3ms, max=117.8ms + save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4372.5ms, max=4372.5ms + task_sampling: mean=635.3ms, total=635.3ms, count=1, min=635.3ms, max=635.3ms + task_specific_sample: mean=630.7ms, total=630.7ms, count=1, min=630.7ms, max=630.7ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=588.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=34.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:51:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:51:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:51:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:51:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:51:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:51:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:51:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:51:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:51:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:51:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:51:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017180m [env.py: 870] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:51:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98763773 0.16752208 0.01718016] yaw=166.3deg [env.py: 1019] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.62251787 0.57287199 0.01718016] yaw=-182.1deg [env.py: 1019] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:51:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=325.6ms, total=325.7ms [env.py: 1075] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.988, 0.168, 0.017) [env.py: 1079] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.3 deg [env.py: 1082] +05/11 15:51:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.781m [env.py: 1086] +05/11 15:51:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:51:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:51:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:51:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:51:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:51:55 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 15:51:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.161s [base_object_manipulation_planner_policy.py: 377] +05/11 15:51:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:51:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:51:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.099s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:51:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:51:57 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:51:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.337s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:51:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.338[m] 84.808[deg] [grasp_sample.py: 539] +05/11 15:51:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:51:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:51:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:51:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:52:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:52:27 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:52:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 15:52:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:52:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:52:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:52:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:52:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:52:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:52:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 16.88s (batch: 4.06s, save: 12.82s) [pipeline.py: 300] +05/11 15:52:44 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:52:45 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.62s: + episode_total: mean=200.61s, total=200.61s, count=1, min=200608.9ms, max=200608.9ms + sensor_polling: mean=456.8ms, total=137.04s, count=300, min=321.2ms, max=960.6ms + save_trajectories: mean=12.82s, total=12.82s, count=1, min=12821.8ms, max=12821.8ms + physics_step: mean=31.7ms, total=9.52s, count=300, min=22.3ms, max=93.0ms + save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4062.7ms, max=4062.7ms + task_sampling: mean=615.3ms, total=615.3ms, count=1, min=615.3ms, max=615.3ms + task_specific_sample: mean=609.5ms, total=609.5ms, count=1, min=609.5ms, max=609.5ms + scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + mj_forward_sync: mean=805.8us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=33.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:52:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:52:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:52:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:52:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:52:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:52:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:52:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:52:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:52:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025780m [env.py: 870] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:52:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75291238 0.80619214 0.02577983] yaw=-166.2deg [env.py: 1019] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82540199 0.8104222 0.02577983] yaw=-159.7deg [env.py: 1019] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84617105 0.52629838 0.02577983] yaw=-167.4deg [env.py: 1019] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:52:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=156.5ms, total=156.6ms [env.py: 1075] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.806, 0.026) [env.py: 1079] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.2 deg [env.py: 1082] +05/11 15:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/11 15:52:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:52:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:52:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:52:47 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 15:52:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s [base_object_manipulation_planner_policy.py: 377] +05/11 15:52:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:52:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:52:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.103s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:52:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.289s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:52:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.538[m] 86.961[deg] [grasp_sample.py: 539] +05/11 15:52:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:52:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:52:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:52:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:53:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:53:20 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:53:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 15:53:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:53:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:53:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:53:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:53:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:53:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:53:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:53:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:53:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:53:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:53:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:53:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:53:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 15:53:34 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.262s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:53:34 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.364[deg] [grasp_sample.py: 539] +05/11 15:53:36 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:53:37 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:53:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:53:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:53:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:53:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:53:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:53:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:53:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:53:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:53:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:53:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:53:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050670m [env.py: 870] +05/11 15:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:53:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95230412 1.20959619 0.05067048] yaw=-141.5deg [env.py: 1019] +05/11 15:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86749197 0.38402359 0.05067048] yaw=166.8deg [env.py: 1019] +05/11 15:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92409169 0.22508849 0.05067048] yaw=150.4deg [env.py: 1019] +05/11 15:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:53:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=377.7ms, total=377.7ms [env.py: 1075] +05/11 15:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.952, 1.210, 0.051) [env.py: 1079] +05/11 15:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg [env.py: 1082] +05/11 15:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m [env.py: 1086] +05/11 15:53:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:53:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:53:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:53:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:53:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:53:39 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 15:53:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/11 15:53:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:53:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:53:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:53:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:53:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:53:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 20.00s (batch: 4.64s, save: 15.36s) [pipeline.py: 300] +05/11 15:53:40 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.35s: + episode_total: mean=174.13s, total=348.25s, count=2, min=142094.7ms, max=206157.4ms + sensor_polling: mean=435.8ms, total=241.43s, count=554, min=331.5ms, max=1247.1ms + physics_step: mean=30.5ms, total=16.92s, count=554, min=17.7ms, max=96.0ms + save_trajectories: mean=15.36s, total=15.36s, count=1, min=15363.2ms, max=15363.2ms + save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4636.2ms, max=4636.2ms + task_sampling: mean=674.9ms, total=1.35s, count=2, min=492.3ms, max=857.5ms + task_specific_sample: mean=670.7ms, total=1.34s, count=2, min=488.6ms, max=852.8ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.2ms, max=2.4ms + mj_forward_sync: mean=593.0us, total=1.2ms, count=2, min=0.5ms, max=0.7ms + policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:53:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:53:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:53:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:53:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:53:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:53:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:53:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:53:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:53:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015495m [env.py: 870] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:53:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.16231293 1.12886626 0.01549533] yaw=-122.6deg [env.py: 1019] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04550588 0.97594808 0.01549533] yaw=-142.6deg [env.py: 1019] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83783702 0.21376845 0.01549533] yaw=159.7deg [env.py: 1019] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:53:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=267.4ms, total=267.4ms [env.py: 1075] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.162, 1.129, 0.015) [env.py: 1079] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.6 deg [env.py: 1082] +05/11 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/11 15:53:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:53:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:53:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:53:43 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 15:53:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.165s [base_object_manipulation_planner_policy.py: 377] +05/11 15:53:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:53:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:53:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:53:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.293s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:53:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.609[m] 78.395[deg] [grasp_sample.py: 539] +05/11 15:53:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.889s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:53:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.412[m] 90.956[deg] [grasp_sample.py: 539] +05/11 15:53:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:53:46 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:53:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:53:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:53:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:53:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:53:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:53:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:53:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:53:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:53:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:53:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:53:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:53:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:53:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:53:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:53:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:53:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:53:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062676m [env.py: 870] +05/11 15:53:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:53:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:53:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9198023 0.35720033 0.06267592] yaw=166.2deg [env.py: 1019] +05/11 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.72764832 0.17730025 0.06267592] yaw=156.0deg [env.py: 1019] +05/11 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76008897 0.57146596 0.06267592] yaw=-165.8deg [env.py: 1019] +05/11 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:53:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=659.7ms, total=659.8ms [env.py: 1075] +05/11 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.920, 0.357, 0.063) [env.py: 1079] +05/11 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.2 deg [env.py: 1082] +05/11 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m [env.py: 1086] +05/11 15:53:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:53:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:53:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:53:48 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 15:53:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s [base_object_manipulation_planner_policy.py: 377] +05/11 15:53:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:53:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:53:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.124s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:53:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.152s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:53:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.329[m] 85.336[deg] [grasp_sample.py: 539] +05/11 15:53:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:53:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:53:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:53:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:53:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:54:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:54:12 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:54:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 15:54:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:54:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:54:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:54:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:54:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:54:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.81s (batch: 3.89s, save: 11.92s) [pipeline.py: 300] +05/11 15:54:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:54:28 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.97s: + episode_total: mean=204.58s, total=204.58s, count=1, min=204583.0ms, max=204583.0ms + sensor_polling: mean=459.8ms, total=137.95s, count=300, min=341.7ms, max=1007.2ms + save_trajectories: mean=11.92s, total=11.92s, count=1, min=11915.3ms, max=11915.3ms + physics_step: mean=31.2ms, total=9.36s, count=300, min=21.8ms, max=95.7ms + save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3894.6ms, max=3894.6ms + task_sampling: mean=970.6ms, total=970.6ms, count=1, min=970.6ms, max=970.6ms + task_specific_sample: mean=966.1ms, total=966.1ms, count=1, min=966.1ms, max=966.1ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=570.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=57.6us, total=0.1ms, count=1, min=0.1ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:54:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:54:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:54:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:54:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:54:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:54:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:54:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:54:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:54:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025793m [env.py: 870] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:54:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92143653 0.3675406 0.02579323] yaw=170.9deg [env.py: 1019] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12931002 1.08945394 0.02579323] yaw=-122.2deg [env.py: 1019] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.65715446 0.65693409 0.02579323] yaw=-162.9deg [env.py: 1019] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:54:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=212.3ms, total=212.4ms [env.py: 1075] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.921, 0.368, 0.026) [env.py: 1079] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.9 deg [env.py: 1082] +05/11 15:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.789m [env.py: 1086] +05/11 15:54:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:54:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:54:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:54:30 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 15:54:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/11 15:54:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:54:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:54:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:54:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.603s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:54:31 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.369[m] 92.708[deg] [grasp_sample.py: 539] +05/11 15:54:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:54:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:54:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:54:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:54:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:54:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:54:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:55:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:55:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:55:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:55:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:55:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:55:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:55:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:55:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:55:25 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:55:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:55:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:55:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:55:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:55:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:55:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:55:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:55:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 15:55:32 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.127s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:55:32 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.706[deg] [grasp_sample.py: 539] +05/11 15:55:34 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:55:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:55:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:55:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:55:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:55:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:55:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:55:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:55:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:55:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:55:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:55:37 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] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067408m [env.py: 870] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:55:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07020328 1.01928248 0.06740802] yaw=-149.4deg [env.py: 1019] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81869668 0.67677423 0.06740802] yaw=-158.1deg [env.py: 1019] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.72109451 0.88377643 0.06740802] yaw=-168.4deg [env.py: 1019] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:55:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=579.0ms, total=579.1ms [env.py: 1075] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.070, 1.019, 0.067) [env.py: 1079] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.4 deg [env.py: 1082] +05/11 15:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/11 15:55:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:55:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:55:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:55:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:55:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:55:38 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 15:55:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s [base_object_manipulation_planner_policy.py: 377] +05/11 15:55:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:55:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:55:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:55:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.519s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:55:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.409[m] 82.045[deg] [grasp_sample.py: 539] +05/11 15:55:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:55:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:55:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:55:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:55:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:55:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:55:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:55:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:55:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:56:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:56:02 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:56:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 15:56:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:56:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:56:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:56:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:56:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:56:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:56:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 15:56:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.157s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:56:05 INFO: [Worker 0] Feasible grasp found 188 (originally 73): w/ 0.150[m] 6.234[deg] [grasp_sample.py: 539] +05/11 15:56:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:56:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:56:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:56:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:56:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:56:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:56:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:56:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:56:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:56:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:56:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.50s (batch: 3.81s, save: 11.69s) [pipeline.py: 300] +05/11 15:56:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:56:18 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.52s: + episode_total: mean=212.08s, total=212.08s, count=1, min=212082.2ms, max=212082.2ms + sensor_polling: mean=476.0ms, total=142.81s, count=300, min=339.9ms, max=1891.7ms + save_trajectories: mean=11.69s, total=11.69s, count=1, min=11688.2ms, max=11688.2ms + physics_step: mean=30.8ms, total=9.24s, count=300, min=19.2ms, max=97.3ms + save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3807.6ms, max=3807.6ms + task_sampling: mean=521.1ms, total=521.1ms, count=1, min=521.1ms, max=521.1ms + task_specific_sample: mean=516.1ms, total=516.1ms, count=1, min=516.1ms, max=516.1ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=665.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:56:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:56:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:56:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:56:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:56:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:56:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:56:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:56:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:56:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:56:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093815m [env.py: 870] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:56:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89201422 0.54115586 0.09381473] yaw=-170.2deg [env.py: 1019] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93517784 1.17987558 0.09381473] yaw=-149.0deg [env.py: 1019] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86503593 0.25052909 0.09381473] yaw=164.6deg [env.py: 1019] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:56:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.5ms, total=223.6ms [env.py: 1075] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.541, 0.094) [env.py: 1079] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.2 deg [env.py: 1082] +05/11 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m [env.py: 1086] +05/11 15:56:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:56:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:56:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:56:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:56:21 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 15:56:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/11 15:56:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:56:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:56:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:56:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.694s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:56:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.381[m] 92.075[deg] [grasp_sample.py: 539] +05/11 15:56:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:56:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:56:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:56:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:56:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:56:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:56:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:56:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:56:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:56:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:56:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 15:56:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:56:25 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.666s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:56:25 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.143[deg] [grasp_sample.py: 539] +05/11 15:56:27 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:56:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:56:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:56:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:56:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:56:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:56:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:56:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:56:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:56:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:56:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:56:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:56:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062947m [env.py: 870] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:56:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04528227 0.98022913 0.06294735] yaw=-141.6deg [env.py: 1019] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64269576 0.73874636 0.06294735] yaw=-156.0deg [env.py: 1019] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:56:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80497751 0.87457853 0.06294735] yaw=-149.8deg [env.py: 1019] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:56:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.1ms, total=196.2ms [env.py: 1075] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.045, 0.980, 0.063) [env.py: 1079] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg [env.py: 1082] +05/11 15:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m [env.py: 1086] +05/11 15:56:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:56:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:56:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:56:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:56:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:56:29 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 15:56:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/11 15:56:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:56:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:56:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:56:30 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 15:56:30 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=False episode_total=0.76s: + episode_total: mean=167.76s, total=167.76s, count=1, min=167756.8ms, max=167756.8ms + sensor_polling: mean=458.4ms, total=137.53s, count=300, min=345.6ms, max=1081.7ms + physics_step: mean=30.4ms, total=9.13s, count=300, min=17.1ms, max=132.4ms + task_sampling: mean=763.5ms, total=763.5ms, count=1, min=763.5ms, max=763.5ms + task_specific_sample: mean=750.8ms, total=750.8ms, count=1, min=750.8ms, max=750.8ms + scene_randomize: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms + mj_forward_sync: mean=572.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:56:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.736s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:56:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.348[m] 78.941[deg] [grasp_sample.py: 539] +05/11 15:56:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:56:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:56:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:56:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:56:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:56:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:56:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:56:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:56:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:56:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:56:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:56:31 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] +05/11 15:56:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:56:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036491m [env.py: 870] +05/11 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:56:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71800993 0.60265349 0.03649088] yaw=-161.6deg [env.py: 1019] +05/11 15:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.070327 1.22338194 0.03649088] yaw=-120.9deg [env.py: 1019] +05/11 15:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75525478 0.60606046 0.03649088] yaw=-183.2deg [env.py: 1019] +05/11 15:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:56:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.9ms, total=295.9ms [env.py: 1075] +05/11 15:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.603, 0.036) [env.py: 1079] +05/11 15:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.6 deg [env.py: 1082] +05/11 15:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [env.py: 1086] +05/11 15:56:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:56:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:56:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:56:32 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 15:56:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/11 15:56:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:56:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:56:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:56:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.732s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:56:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.538[m] 79.744[deg] [grasp_sample.py: 539] +05/11 15:56:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:56:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:56:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:56:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:56:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:57:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:57:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:57:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:57:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:57:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:57:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:57:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:57:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:57:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:57:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:57:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:57:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:57:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:58:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:58:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:58:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:58:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:58:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:58:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:58:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:58:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.104s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 15:58:06 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.272s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:58:06 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.287[deg] [grasp_sample.py: 539] +05/11 15:58:08 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:58:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:58:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:58:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:58:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:58:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:58:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:58:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:58:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:58:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:58:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:58:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012890m [env.py: 870] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:58:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71331057 0.36891137 0.01288976] yaw=162.2deg [env.py: 1019] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98140388 1.25928015 0.01288976] yaw=-136.1deg [env.py: 1019] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84804413 0.84078481 0.01288976] yaw=-164.5deg [env.py: 1019] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:58:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=194.6ms, total=194.7ms [env.py: 1075] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.713, 0.369, 0.013) [env.py: 1079] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.2 deg [env.py: 1082] +05/11 15:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/11 15:58:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:58:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:58:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:58:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:58:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:58:10 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 15:58:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/11 15:58:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:58:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:58:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:58:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.628s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:58:11 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.547[m] 85.931[deg] [grasp_sample.py: 539] +05/11 15:58:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:58:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:58:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:58:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:58:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:58:46 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:58:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:58:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:58:51 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 15:58:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:58:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:58:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:58:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:58:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:58:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:58:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:58:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:58:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:58:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 15:59:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:59:01 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.587s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:59:01 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.333[deg] [grasp_sample.py: 539] +05/11 15:59:03 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:59:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:59:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:59:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:59:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:59:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:59:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:59:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014558m [env.py: 870] +05/11 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:59:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92788749 0.61467226 0.01455847] yaw=-166.3deg [env.py: 1019] +05/11 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84110478 0.10156342 0.01455847] yaw=165.5deg [env.py: 1019] +05/11 15:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:59:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=814.4ms, total=814.4ms [env.py: 1075] +05/11 15:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.928, 0.615, 0.015) [env.py: 1079] +05/11 15:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.3 deg [env.py: 1082] +05/11 15:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m [env.py: 1086] +05/11 15:59:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:59:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:59:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:59:06 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 15:59:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.157s [base_object_manipulation_planner_policy.py: 377] +05/11 15:59:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:59:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:59:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.111s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:59:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.470s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:59:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.322[m] 85.065[deg] [grasp_sample.py: 539] +05/11 15:59:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:59:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:59:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:59:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:59:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:59:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:59:19 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:59:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 15:59:19 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/11 15:59:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 15:59:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 15:59:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 15:59:28 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 15:59:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 15:59:28 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 15:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 15:59:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 15:59:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 15:59:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 15:59:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:59:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:59:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.30s (batch: 3.77s, save: 11.52s) [pipeline.py: 300] +05/11 15:59:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 15:59:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 15:59:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 15:59:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:59:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:59:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 15:59:35 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.57s: + episode_total: mean=195.13s, total=195.13s, count=1, min=195133.1ms, max=195133.1ms + sensor_polling: mean=438.2ms, total=131.01s, count=299, min=312.2ms, max=1004.0ms + save_trajectories: mean=11.52s, total=11.52s, count=1, min=11522.2ms, max=11522.2ms + physics_step: mean=29.6ms, total=8.86s, count=299, min=22.1ms, max=96.5ms + save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3774.2ms, max=3774.2ms + task_sampling: mean=570.3ms, total=570.3ms, count=1, min=570.3ms, max=570.3ms + task_specific_sample: mean=565.6ms, total=565.6ms, count=1, min=565.6ms, max=565.6ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=596.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:59:35 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.496s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:59:35 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.264[deg] [grasp_sample.py: 539] +05/11 15:59:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:59:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:59:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:59:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:59:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:59:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:59:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:59:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:59:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:59:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:59:36 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] +05/11 15:59:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:59:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016834m [env.py: 870] +05/11 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:59:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94344086 1.05479693 0.01683405] yaw=-149.7deg [env.py: 1019] +05/11 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65141457 0.62792745 0.01683405] yaw=-164.6deg [env.py: 1019] +05/11 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04518702 1.26488936 0.01683405] yaw=-120.7deg [env.py: 1019] +05/11 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:59:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.8ms, total=169.8ms [env.py: 1075] +05/11 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 1.055, 0.017) [env.py: 1079] +05/11 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.7 deg [env.py: 1082] +05/11 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/11 15:59:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:59:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:59:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:59:37 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 15:59:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/11 15:59:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:59:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:59:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:59:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.232s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:59:39 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.518[m] 85.568[deg] [grasp_sample.py: 539] +05/11 15:59:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:59:41 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 15:59:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:59:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:59:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:59:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:59:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:59:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:59:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:59:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:59:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089512m [env.py: 870] +05/11 15:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:59:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72417257 0.02329123 0.08951153] yaw=152.5deg [env.py: 1019] +05/11 15:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62695373 0.50835645 0.08951153] yaw=-175.0deg [env.py: 1019] +05/11 15:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9117008 0.38958455 0.08951153] yaw=170.7deg [env.py: 1019] +05/11 15:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:59:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=310.1ms, total=310.2ms [env.py: 1075] +05/11 15:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.724, 0.023, 0.090) [env.py: 1079] +05/11 15:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.5 deg [env.py: 1082] +05/11 15:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/11 15:59:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:59:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:59:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 15:59:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 15:59:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.55s (batch: 4.02s, save: 11.52s) [pipeline.py: 300] +05/11 15:59:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:59:43 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 15:59:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/11 15:59:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:59:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:59:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:59:44 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.60s: + episode_total: mean=192.77s, total=192.77s, count=1, min=192766.2ms, max=192766.2ms + sensor_polling: mean=417.9ms, total=125.38s, count=300, min=320.5ms, max=932.1ms + save_trajectories: mean=11.52s, total=11.52s, count=1, min=11520.5ms, max=11520.5ms + physics_step: mean=29.3ms, total=8.78s, count=300, min=17.8ms, max=85.9ms + save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4024.9ms, max=4024.9ms + task_sampling: mean=602.8ms, total=602.8ms, count=1, min=602.8ms, max=602.8ms + task_specific_sample: mean=599.4ms, total=599.4ms, count=1, min=599.4ms, max=599.4ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=492.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=13.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 15:59:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:59:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:59:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:59:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:59:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:59:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:59:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:59:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 15:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064299m [env.py: 870] +05/11 15:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:59:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 15:59:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=333.4ms, total=333.4ms [env.py: 1105] +05/11 15:59:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 285] +05/11 15:59:47 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/11 15:59:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.869s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:59:47 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.647[m] 86.182[deg] [grasp_sample.py: 539] +05/11 15:59:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:59:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:59:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:59:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 15:59:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 15:59:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 15:59:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 15:59:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:59:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:59:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 15:59:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 15:59:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 15:59:49 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] +05/11 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037253m [env.py: 870] +05/11 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 15:59:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93886192 1.02067616 0.03725344] yaw=-145.3deg [env.py: 1019] +05/11 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 15:59:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79858648 1.0730272 0.03725344] yaw=-147.4deg [env.py: 1019] +05/11 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84623126 0.62144465 0.03725344] yaw=-170.2deg [env.py: 1019] +05/11 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 15:59:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.6ms, total=146.7ms [env.py: 1075] +05/11 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 1.021, 0.037) [env.py: 1079] +05/11 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.3 deg [env.py: 1082] +05/11 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/11 15:59:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 15:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 15:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 15:59:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 15:59:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 15:59:49 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 15:59:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 15:59:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 15:59:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 15:59:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 15:59:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 15:59:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.881s, found feasible grasp: True [grasp_sample.py: 500] +05/11 15:59:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.550[m] 92.405[deg] [grasp_sample.py: 539] +05/11 15:59:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 15:59:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 15:59:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 15:59:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:00:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:00:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:00:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:01:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:01:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:01:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:01:23 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:01:33 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:01:58 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:01:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 16:01:58 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:02:05 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:02:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 16:02:05 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/11 16:02:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:02:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:02:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.77s (batch: 4.49s, save: 11.27s) [pipeline.py: 300] +05/11 16:02:14 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=3.85s: + episode_total: mean=122.28s, total=611.39s, count=5, min=7464.8ms, max=244058.0ms + sensor_polling: mean=447.0ms, total=412.15s, count=922, min=317.3ms, max=1223.5ms + physics_step: mean=30.7ms, total=28.28s, count=922, min=16.1ms, max=107.0ms + save_trajectories: mean=11.27s, total=11.27s, count=1, min=11273.0ms, max=11273.0ms + save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4493.2ms, max=4493.2ms + task_sampling: mean=770.6ms, total=3.85s, count=5, min=492.5ms, max=1101.8ms + task_specific_sample: mean=766.8ms, total=3.83s, count=5, min=488.1ms, max=1098.0ms + scene_randomize: mean=1.7ms, total=8.5ms, count=5, min=1.3ms, max=2.8ms + mj_forward_sync: mean=596.4us, total=3.0ms, count=5, min=0.6ms, max=0.8ms + policy_setup: mean=17.7us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:02:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:02:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:02:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:02:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:02:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:02:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:02:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:02:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:02:16 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] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001089m [env.py: 870] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:02:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.12042986e+00 1.14274315e+00 1.08877332e-03] yaw=-129.6deg [env.py: 1019] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69156778 0.5749658 0.00108877] yaw=-175.7deg [env.py: 1019] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.8718332 0.97285225 0.00108877] yaw=-146.0deg [env.py: 1019] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:02:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=204.8ms, total=204.9ms [env.py: 1075] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.120, 1.143, 0.001) [env.py: 1079] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.6 deg [env.py: 1082] +05/11 16:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m [env.py: 1086] +05/11 16:02:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:02:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:02:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:02:16 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 16:02:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/11 16:02:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:02:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:02:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:02:18 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:02:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.189s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:02:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.508[m] 91.146[deg] [grasp_sample.py: 539] +05/11 16:02:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:02:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:02:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:02:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:02:20 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:02:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:02:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:02:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.45s (batch: 4.08s, save: 11.37s) [pipeline.py: 300] +05/11 16:02:21 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=2.26s: + episode_total: mean=156.02s, total=468.07s, count=3, min=117494.4ms, max=196282.9ms + sensor_polling: mean=455.3ms, total=345.58s, count=759, min=317.6ms, max=1257.6ms + physics_step: mean=31.0ms, total=23.54s, count=759, min=17.7ms, max=99.9ms + save_trajectories: mean=11.37s, total=11.37s, count=1, min=11370.0ms, max=11370.0ms + save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4075.1ms, max=4075.1ms + task_sampling: mean=751.9ms, total=2.26s, count=3, min=499.7ms, max=1209.5ms + task_specific_sample: mean=747.3ms, total=2.24s, count=3, min=496.7ms, max=1202.6ms + scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.2ms, max=2.7ms + mj_forward_sync: mean=534.1us, total=1.6ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=21.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:02:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:02:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:02:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:02:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:02:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:02:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:02:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:02:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:02:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:02:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:02:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082159m [env.py: 870] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:02:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78075333 0.97148435 0.08215948] yaw=-153.8deg [env.py: 1019] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98202822 0.1614558 0.08215948] yaw=162.8deg [env.py: 1019] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73993903 0.14021476 0.08215948] yaw=151.1deg [env.py: 1019] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:02:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=242.5ms, total=242.6ms [env.py: 1075] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.781, 0.971, 0.082) [env.py: 1079] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.8 deg [env.py: 1082] +05/11 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m [env.py: 1086] +05/11 16:02:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:02:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:02:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:02:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:02:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:02:23 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 16:02:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/11 16:02:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:02:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:02:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:02:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.247s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:02:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.607[m] 84.828[deg] [grasp_sample.py: 539] +05/11 16:02:27 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 16:02:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:02:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:02:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:02:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:02:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:02:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:02:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001593m [env.py: 870] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:02:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6516994 0.28868905 0.00159296] yaw=177.3deg [env.py: 1019] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69063767 0.29364257 0.00159296] yaw=172.1deg [env.py: 1019] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74454196 0.22768314 0.00159296] yaw=164.0deg [env.py: 1019] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:02:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=235.7ms, total=235.8ms [env.py: 1075] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.289, 0.002) [env.py: 1079] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.3 deg [env.py: 1082] +05/11 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m [env.py: 1086] +05/11 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:02:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:02:29 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 16:02:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/11 16:02:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:02:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:02:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.137s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:02:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.823s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:02:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.575[m] 82.104[deg] [grasp_sample.py: 539] +05/11 16:02:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:02:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:02:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:02:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:02:57 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:02:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 16:02:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:03:02 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:03:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 16:03:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:03:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:03:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:03:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:03:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 16.27s (batch: 4.90s, save: 11.37s) [pipeline.py: 300] +05/11 16:03:14 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.11s: + episode_total: mean=108.11s, total=216.22s, count=2, min=4480.1ms, max=211736.6ms + sensor_polling: mean=450.9ms, total=135.26s, count=300, min=351.6ms, max=1168.5ms + save_trajectories: mean=11.37s, total=11.37s, count=1, min=11369.8ms, max=11369.8ms + physics_step: mean=30.9ms, total=9.26s, count=300, min=19.7ms, max=125.7ms + save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4895.8ms, max=4895.8ms + task_sampling: mean=553.6ms, total=1.11s, count=2, min=495.8ms, max=611.5ms + task_specific_sample: mean=550.2ms, total=1.10s, count=2, min=492.1ms, max=608.2ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms + mj_forward_sync: mean=535.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=15.5us, 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] +05/11 16:03:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:03:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:03:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:03:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:03:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:03:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:03:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:03:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:03:16 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] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070101m [env.py: 870] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:03:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89075489 0.32672639 0.07010095] yaw=177.7deg [env.py: 1019] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7054597 0.87206814 0.07010095] yaw=-152.5deg [env.py: 1019] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02145052 1.08704279 0.07010095] yaw=-142.1deg [env.py: 1019] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:03:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=175.9ms, total=175.9ms [env.py: 1075] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.327, 0.070) [env.py: 1079] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.7 deg [env.py: 1082] +05/11 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m [env.py: 1086] +05/11 16:03:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:03:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:03:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:03:17 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 16:03:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.152s [base_object_manipulation_planner_policy.py: 377] +05/11 16:03:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:03:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:03:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:03:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.950s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:03:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.441[m] 91.279[deg] [grasp_sample.py: 539] +05/11 16:03:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:03:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:03:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:03:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:03:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:03:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 16.72s (batch: 4.51s, save: 12.20s) [pipeline.py: 300] +05/11 16:03:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:03:20 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.49s: + episode_total: mean=105.63s, total=211.25s, count=2, min=353.2ms, max=210901.3ms + sensor_polling: mean=448.8ms, total=134.63s, count=300, min=347.5ms, max=997.3ms + save_trajectories: mean=12.20s, total=12.20s, count=1, min=12203.9ms, max=12203.9ms + physics_step: mean=31.3ms, total=9.39s, count=300, min=22.2ms, max=96.9ms + save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4512.2ms, max=4512.2ms + task_specific_sample: mean=412.9ms, total=825.8ms, count=2, min=340.7ms, max=485.1ms + task_sampling: mean=492.9ms, total=492.9ms, count=1, min=492.9ms, max=492.9ms + task_sampling_failed: mean=353.2ms, total=353.2ms, count=1, min=353.2ms, max=353.2ms + scene_randomize: mean=4.0ms, total=8.0ms, count=2, min=2.6ms, max=5.4ms + mj_forward_sync: mean=564.6us, total=1.1ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:03:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:03:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:03:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:03:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:03:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:03:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:03:21 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] +05/11 16:03:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:03:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088842m [env.py: 870] +05/11 16:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:03:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00753882 1.27261042 0.08884194] yaw=-128.7deg [env.py: 1019] +05/11 16:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93849936 0.95228345 0.08884194] yaw=-137.4deg [env.py: 1019] +05/11 16:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9861247 1.03569982 0.08884194] yaw=-133.0deg [env.py: 1019] +05/11 16:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:03:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=216.7ms, total=216.7ms [env.py: 1075] +05/11 16:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.008, 1.273, 0.089) [env.py: 1079] +05/11 16:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.7 deg [env.py: 1082] +05/11 16:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/11 16:03:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:03:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:03:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:03:22 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 16:03:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.167s [base_object_manipulation_planner_policy.py: 377] +05/11 16:03:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:03:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:03:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:03:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:03:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.071s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:03:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.642[m] 92.549[deg] [grasp_sample.py: 539] +05/11 16:03:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:03:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:03:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:03:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:03:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:03:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:03:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:03:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:04:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:04:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:04:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:04:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:04:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:04:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:04:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:04:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:04:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:04:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:04:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:04:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:04:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 16:04:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 16:04:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 16:04:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:04:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:04:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.252s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 16:04:44 INFO: [Worker 0] Feasibility-checked 76 grasps in 4.432s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:04:44 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.369[deg] [grasp_sample.py: 539] +05/11 16:04:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:04:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:04:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:04:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:04:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:04:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:04:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:05:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:05:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:05:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:05:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:05:03 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:05:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:05:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:05:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:05:06 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:05:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:05:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:05:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:05:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 16:05:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 16:05:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 16:05:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:05:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:05:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 16:05:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 16:05:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 16:05:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 16:05:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:05:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:05:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 16:05:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.562s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:05:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.657[deg] [grasp_sample.py: 539] +05/11 16:05:13 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.356s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:05:13 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 2.611[deg] [grasp_sample.py: 539] +05/11 16:05:14 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 16:05:14 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 16:05:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:05:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:05:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:05:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:05:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:05:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:05:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:05:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:05:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017053m [env.py: 870] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:05:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:05:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:05:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:05:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:05:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:05:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:05:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00819265 1.23876799 0.01705253] yaw=-129.6deg [env.py: 1019] +05/11 16:05:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:05:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:05:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075790m [env.py: 870] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:05:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88179054 0.70835586 0.07579005] yaw=-163.3deg [env.py: 1019] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68340665 0.08149305 0.07579005] yaw=157.8deg [env.py: 1019] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.867235 0.42796965 0.07579005] yaw=179.2deg [env.py: 1019] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:05:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=274.8ms, total=274.9ms [env.py: 1075] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.882, 0.708, 0.076) [env.py: 1079] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.3 deg [env.py: 1082] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/11 16:05:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:05:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.64899672 0.48005604 0.01705253] yaw=171.0deg [env.py: 1019] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89341249 0.74501379 0.01705253] yaw=-166.6deg [env.py: 1019] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:05:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=536.9ms, total=537.0ms [env.py: 1075] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.008, 1.239, 0.017) [env.py: 1079] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.6 deg [env.py: 1082] +05/11 16:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m [env.py: 1086] +05/11 16:05:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:05:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:05:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:05:17 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 16:05:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/11 16:05:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:05:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:05:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:05:17 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 16:05:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/11 16:05:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:05:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:05:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:05:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:05:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.676s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:05:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.428[m] 87.540[deg] [grasp_sample.py: 539] +05/11 16:05:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:05:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:05:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:05:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:05:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.127s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:05:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.577[m] 86.570[deg] [grasp_sample.py: 539] +05/11 16:05:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:05:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:05:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:05:31 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:05:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 16:05:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:05:33 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:05:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 16:05:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:05:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:05:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:05:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.37s (batch: 4.13s, save: 11.24s) [pipeline.py: 300] +05/11 16:05:47 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.12s: + episode_total: mean=101.27s, total=202.53s, count=2, min=4354.1ms, max=198179.0ms + sensor_polling: mean=457.3ms, total=137.20s, count=300, min=347.9ms, max=1115.3ms + save_trajectories: mean=11.24s, total=11.24s, count=1, min=11236.0ms, max=11236.0ms + physics_step: mean=32.9ms, total=9.86s, count=300, min=20.9ms, max=116.3ms + save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4129.3ms, max=4129.3ms + task_sampling: mean=561.0ms, total=1.12s, count=2, min=520.5ms, max=601.5ms + task_specific_sample: mean=557.4ms, total=1.11s, count=2, min=517.3ms, max=597.4ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.2ms, max=2.7ms + mj_forward_sync: mean=524.8us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=23.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:05:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:05:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:05:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 14.83s (batch: 3.67s, save: 11.16s) [pipeline.py: 300] +05/11 16:05:48 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.57s: + episode_total: mean=212.71s, total=212.71s, count=1, min=212705.5ms, max=212705.5ms + sensor_polling: mean=453.7ms, total=136.11s, count=300, min=329.0ms, max=1030.7ms + save_trajectories: mean=11.16s, total=11.16s, count=1, min=11159.8ms, max=11159.8ms + physics_step: mean=30.6ms, total=9.17s, count=300, min=17.3ms, max=103.5ms + save_batch_prep: mean=3.67s, total=3.67s, count=1, min=3667.1ms, max=3667.1ms + task_sampling: mean=566.6ms, total=566.6ms, count=1, min=566.6ms, max=566.6ms + task_specific_sample: mean=562.7ms, total=562.7ms, count=1, min=562.7ms, max=562.7ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=462.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:05:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:05:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:05:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:05:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:05:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:05:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:05:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:05:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:05:49 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] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001238m [env.py: 870] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:05:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87137448 0.499966 0.00123848] yaw=-185.8deg [env.py: 1019] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.98390671 0.88144657 0.00123848] yaw=-154.5deg [env.py: 1019] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:05:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.3ms, total=215.3ms [env.py: 1075] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.500, 0.001) [env.py: 1079] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.8 deg [env.py: 1082] +05/11 16:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m [env.py: 1086] +05/11 16:05:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:05:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:05:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:05:49 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 16:05:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 16:05:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:05:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:05:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:05:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.686s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:05:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.402[m] 91.636[deg] [grasp_sample.py: 539] +05/11 16:05:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:05:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:05:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:05:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:05:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:05:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:05:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:05:50 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] +05/11 16:05:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:05:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001601m [env.py: 870] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:05:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89745115 0.49781067 0.00160129] yaw=-181.3deg [env.py: 1019] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95374708 0.77496511 0.00160129] yaw=-157.4deg [env.py: 1019] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83452455 0.08279315 0.00160129] yaw=157.4deg [env.py: 1019] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:05:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.8ms, total=143.9ms [env.py: 1075] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.897, 0.498, 0.002) [env.py: 1079] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.3 deg [env.py: 1082] +05/11 16:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/11 16:05:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:05:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:05:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:05:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:05:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:05:50 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 16:05:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/11 16:05:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:05:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:05:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:05:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:05:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.671s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:05:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.366[m] 90.121[deg] [grasp_sample.py: 539] +05/11 16:05:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:05:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:05:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:05:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:05:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:06:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:06:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:06:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:06:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:06:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:06:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:06:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:06:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:06:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:06:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:06:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:06:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:06:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:06:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:06:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:06:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:06:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:07:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:07:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 16:07:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 16:07:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 16:07:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:07:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:07:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:07:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.253s, found feasible grasp: False [grasp_sample.py: 500] +05/11 16:07:05 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 16:07:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:07:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:07:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:07:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:07:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:07:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:07:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:07:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:07:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034386m [env.py: 870] +05/11 16:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:07:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95313332 0.39410859 0.03438572] yaw=167.2deg [env.py: 1019] +05/11 16:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.811691 0.21860339 0.03438572] yaw=166.1deg [env.py: 1019] +05/11 16:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97815369 0.69961246 0.03438572] yaw=-161.8deg [env.py: 1019] +05/11 16:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:07:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.9ms, total=174.9ms [env.py: 1075] +05/11 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.394, 0.034) [env.py: 1079] +05/11 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.2 deg [env.py: 1082] +05/11 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.754m [env.py: 1086] +05/11 16:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:07:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:07:08 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 16:07:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/11 16:07:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:07:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:07:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:07:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.609s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:07:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.277[m] 78.326[deg] [grasp_sample.py: 539] +05/11 16:07:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:07:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:07:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:07:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:07:30 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:07:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:07:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:08:05 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:08:05 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:08:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 16:08:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:08:08 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:08:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:08:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:08:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 16.27s (batch: 4.68s, save: 11.58s) [pipeline.py: 300] +05/11 16:08:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:22 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.25s: + episode_total: mean=149.75s, total=299.50s, count=2, min=113006.2ms, max=186496.0ms + sensor_polling: mean=417.3ms, total=206.14s, count=494, min=312.9ms, max=1010.3ms + physics_step: mean=27.6ms, total=13.63s, count=494, min=20.5ms, max=80.7ms + save_trajectories: mean=11.58s, total=11.58s, count=1, min=11584.5ms, max=11584.5ms + save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4683.1ms, max=4683.1ms + task_sampling: mean=626.5ms, total=1.25s, count=2, min=617.7ms, max=635.4ms + task_specific_sample: mean=622.1ms, total=1.24s, count=2, min=612.7ms, max=631.6ms + scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=1.4ms, max=3.3ms + mj_forward_sync: mean=889.1us, total=1.8ms, count=2, min=0.7ms, max=1.0ms + policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:08:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:08:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:08:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:08:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:08:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:08:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:08:24 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] +05/11 16:08:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:08:24 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] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067383m [env.py: 870] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:08:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67288683 0.56754432 0.06738268] yaw=-167.3deg [env.py: 1019] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.09337025 1.10011874 0.06738268] yaw=-129.3deg [env.py: 1019] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71130097 0.72700456 0.06738268] yaw=-168.9deg [env.py: 1019] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:08:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.3ms, total=182.4ms [env.py: 1075] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.673, 0.568, 0.067) [env.py: 1079] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.3 deg [env.py: 1082] +05/11 16:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/11 16:08:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:08:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:08:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:08:24 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 16:08:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/11 16:08:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:08:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:08:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:08:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.773s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:08:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.620[m] 95.666[deg] [grasp_sample.py: 539] +05/11 16:08:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:08:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:08:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:08:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:08:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 16:08:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 16:08:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:08:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:08:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 16:08:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.568s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:08:28 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.425[deg] [grasp_sample.py: 539] +05/11 16:08:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:08:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:08:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:08:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:33 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:08:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 16:08:33 INFO: [Worker 0] Preparing episode data: 296 timesteps [save_utils.py: 278] +05/11 16:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:36 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:08:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 16:08:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:08:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 16:08:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 16:08:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:08:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:08:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 16:08:45 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.557s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:08:45 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.418[deg] [grasp_sample.py: 539] +05/11 16:08:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:08:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:08:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:08:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:08:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.08s (batch: 3.74s, save: 11.34s) [pipeline.py: 300] +05/11 16:08:48 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.45s: + episode_total: mean=178.44s, total=178.44s, count=1, min=178438.2ms, max=178438.2ms + sensor_polling: mean=412.9ms, total=121.80s, count=295, min=319.7ms, max=904.9ms + save_trajectories: mean=11.34s, total=11.34s, count=1, min=11341.1ms, max=11341.1ms + physics_step: mean=27.7ms, total=8.18s, count=295, min=17.6ms, max=89.1ms + save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3736.7ms, max=3736.7ms + task_sampling: mean=445.9ms, total=445.9ms, count=1, min=445.9ms, max=445.9ms + task_specific_sample: mean=441.7ms, total=441.7ms, count=1, min=441.7ms, max=441.7ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=464.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:08:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:08:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:08:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:08:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:08:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:08:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:08:50 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] +05/11 16:08:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:08:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029666m [env.py: 870] +05/11 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:08:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79218846 0.39695815 0.0296662 ] yaw=163.4deg [env.py: 1019] +05/11 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05402363 1.28709813 0.0296662 ] yaw=-134.8deg [env.py: 1019] +05/11 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11850233 1.19503221 0.0296662 ] yaw=-124.6deg [env.py: 1019] +05/11 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:08:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.6ms, total=129.6ms [env.py: 1075] +05/11 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.397, 0.030) [env.py: 1079] +05/11 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.4 deg [env.py: 1082] +05/11 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/11 16:08:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:08:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:08:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:08:50 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 16:08:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/11 16:08:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:08:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:08:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.669s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:08:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.508[m] 99.625[deg] [grasp_sample.py: 539] +05/11 16:08:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:08:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:08:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:08:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.01s (batch: 4.04s, save: 10.97s) [pipeline.py: 300] +05/11 16:08:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:08:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:08:52 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.53s: + episode_total: mean=183.46s, total=183.46s, count=1, min=183462.6ms, max=183462.6ms + sensor_polling: mean=414.1ms, total=124.23s, count=300, min=318.3ms, max=948.6ms + save_trajectories: mean=10.97s, total=10.97s, count=1, min=10967.0ms, max=10967.0ms + physics_step: mean=28.1ms, total=8.44s, count=300, min=20.1ms, max=74.8ms + save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4042.4ms, max=4042.4ms + task_sampling: mean=531.8ms, total=531.8ms, count=1, min=531.8ms, max=531.8ms + task_specific_sample: mean=527.9ms, total=527.9ms, count=1, min=527.9ms, max=527.9ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=472.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:08:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:08:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:08:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:08:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:08:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:08:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:08:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:08:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:08:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:08:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:08:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:08:53 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] +05/11 16:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053361m [env.py: 870] +05/11 16:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:08:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75534984 0.81812673 0.05336121] yaw=-164.3deg [env.py: 1019] +05/11 16:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.05254632 1.21111192 0.05336121] yaw=-130.0deg [env.py: 1019] +05/11 16:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68996249 0.46442896 0.05336121] yaw=188.9deg [env.py: 1019] +05/11 16:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:08:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.1ms, total=182.1ms [env.py: 1075] +05/11 16:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.755, 0.818, 0.053) [env.py: 1079] +05/11 16:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.3 deg [env.py: 1082] +05/11 16:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/11 16:08:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:08:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:08:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:08:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:08:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:08:54 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 16:08:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/11 16:08:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:08:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:08:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:08:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.641s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:08:58 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.577[m] 80.928[deg] [grasp_sample.py: 539] +05/11 16:08:59 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 16:08:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 16:08:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 16:08:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 16:08:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:08:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:08:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 16:09:00 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.591s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:09:00 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.418[deg] [grasp_sample.py: 539] +05/11 16:09:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:09:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:09:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:09:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:09:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:09:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:09:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:09:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:09:00 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] +05/11 16:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027106m [env.py: 870] +05/11 16:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:09:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77495227 0.2995315 0.02710633] yaw=179.1deg [env.py: 1019] +05/11 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84000262 0.22932423 0.02710633] yaw=169.5deg [env.py: 1019] +05/11 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93333066 0.44737555 0.02710633] yaw=179.3deg [env.py: 1019] +05/11 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:09:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.7ms, total=198.8ms [env.py: 1075] +05/11 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.775, 0.300, 0.027) [env.py: 1079] +05/11 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.1 deg [env.py: 1082] +05/11 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/11 16:09:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:09:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:09:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:09:01 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 16:09:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/11 16:09:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:09:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:09:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:09:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:09:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:09:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:09:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.114s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:09:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.505[m] 87.857[deg] [grasp_sample.py: 539] +05/11 16:09:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:09:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:09:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:09:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:09:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:09:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:09:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:09:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:09:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:09:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:09:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 16:09:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 16:09:18 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 16:09:18 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 16:09:18 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=False episode_total=1.80s: + episode_total: mean=119.47s, total=358.42s, count=3, min=109594.6ms, max=130827.1ms + sensor_polling: mean=423.2ms, total=249.69s, count=590, min=316.2ms, max=1022.2ms + physics_step: mean=29.2ms, total=17.23s, count=590, min=14.8ms, max=137.2ms + task_sampling: mean=601.5ms, total=1.80s, count=3, min=448.0ms, max=857.3ms + task_specific_sample: mean=597.4ms, total=1.79s, count=3, min=444.6ms, max=852.9ms + scene_randomize: mean=2.1ms, total=6.4ms, count=3, min=1.1ms, max=3.2ms + mj_forward_sync: mean=512.7us, total=1.5ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=20.4us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:09:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:09:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:09:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:09:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:09:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:09:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:09:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:09:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:09:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059703m [env.py: 870] +05/11 16:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:09:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67264347 0.3462595 0.0597034 ] yaw=171.3deg [env.py: 1019] +05/11 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97432282 1.1674318 0.0597034 ] yaw=-126.3deg [env.py: 1019] +05/11 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.66569435 0.18835194 0.0597034 ] yaw=158.0deg [env.py: 1019] +05/11 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:09:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=534.6ms, total=534.6ms [env.py: 1075] +05/11 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.673, 0.346, 0.060) [env.py: 1079] +05/11 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.3 deg [env.py: 1082] +05/11 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/11 16:09:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:09:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:09:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:09:21 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 16:09:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/11 16:09:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:09:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:09:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:09:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:09:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.597s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:09:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.631[m] 97.897[deg] [grasp_sample.py: 539] +05/11 16:09:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:09:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:09:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:09:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:09:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:09:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:09:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:09:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:09:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:09:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:10:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:10:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:10:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:10:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:10:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:10:42 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:11:14 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:11:16 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:11:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 16:11:16 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:11:28 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:11:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:11:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:11:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 17.20s (batch: 4.74s, save: 12.46s) [pipeline.py: 300] +05/11 16:11:34 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.47s: + episode_total: mean=189.67s, total=189.67s, count=1, min=189665.2ms, max=189665.2ms + sensor_polling: mean=411.3ms, total=123.39s, count=300, min=324.0ms, max=942.8ms + save_trajectories: mean=12.46s, total=12.46s, count=1, min=12460.0ms, max=12460.0ms + physics_step: mean=26.3ms, total=7.89s, count=300, min=21.5ms, max=86.4ms + save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4740.2ms, max=4740.2ms + task_sampling: mean=468.1ms, total=468.1ms, count=1, min=468.1ms, max=468.1ms + task_specific_sample: mean=464.3ms, total=464.3ms, count=1, min=464.3ms, max=464.3ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=467.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:11:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:11:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:11:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:11:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:11:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:11:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:11:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:11:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:11:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042796m [env.py: 870] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:11:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90323574 0.7878467 0.04279636] yaw=-155.2deg [env.py: 1019] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05583307 1.05304978 0.04279636] yaw=-142.3deg [env.py: 1019] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15818874 1.15347887 0.04279636] yaw=-130.5deg [env.py: 1019] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:11:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.9ms, total=158.9ms [env.py: 1075] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.903, 0.788, 0.043) [env.py: 1079] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.2 deg [env.py: 1082] +05/11 16:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m [env.py: 1086] +05/11 16:11:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:11:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:11:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:11:36 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 16:11:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s [base_object_manipulation_planner_policy.py: 377] +05/11 16:11:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:11:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:11:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:11:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.822s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:11:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.404[m] 83.916[deg] [grasp_sample.py: 539] +05/11 16:11:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:11:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:11:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:11:45 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:11:49 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:11:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 16:11:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:11:59 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:11:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 16:11:59 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:12:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:12:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:12:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.82s (batch: 3.69s, save: 12.13s) [pipeline.py: 300] +05/11 16:12:05 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.43s: + episode_total: mean=195.24s, total=195.24s, count=1, min=195237.8ms, max=195237.8ms + sensor_polling: mean=434.0ms, total=130.20s, count=300, min=340.9ms, max=1053.0ms + save_trajectories: mean=12.13s, total=12.13s, count=1, min=12135.0ms, max=12135.0ms + physics_step: mean=30.0ms, total=9.00s, count=300, min=16.9ms, max=67.4ms + save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3685.4ms, max=3685.4ms + task_sampling: mean=433.0ms, total=433.0ms, count=1, min=433.0ms, max=433.0ms + task_specific_sample: mean=429.3ms, total=429.3ms, count=1, min=429.3ms, max=429.3ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=461.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:12:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:12:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:12:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:12:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:12:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:12:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:12:06 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] +05/11 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036524m [env.py: 870] +05/11 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:12:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96245155 0.85374585 0.03652365] yaw=-162.1deg [env.py: 1019] +05/11 16:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96177409 1.1575794 0.03652365] yaw=-142.7deg [env.py: 1019] +05/11 16:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78598125 0.68023073 0.03652365] yaw=-161.4deg [env.py: 1019] +05/11 16:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:12:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.3ms, total=121.3ms [env.py: 1075] +05/11 16:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.962, 0.854, 0.037) [env.py: 1079] +05/11 16:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.1 deg [env.py: 1082] +05/11 16:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/11 16:12:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:12:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:12:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:12:07 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 16:12:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/11 16:12:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:12:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:12:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:12:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.828s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:12:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.369[m] 87.145[deg] [grasp_sample.py: 539] +05/11 16:12:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:12:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:12:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:12:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:12:12 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:12:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 16:12:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:12:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:12:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:12:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.15s (batch: 4.11s, save: 11.04s) [pipeline.py: 300] +05/11 16:12:15 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.94s: + episode_total: mean=99.85s, total=199.69s, count=2, min=5623.1ms, max=194070.1ms + sensor_polling: mean=440.2ms, total=132.06s, count=300, min=334.9ms, max=1545.3ms + save_trajectories: mean=11.04s, total=11.04s, count=1, min=11042.0ms, max=11042.0ms + physics_step: mean=32.0ms, total=9.59s, count=300, min=21.6ms, max=90.1ms + save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4108.7ms, max=4108.7ms + task_sampling: mean=472.1ms, total=944.2ms, count=2, min=452.1ms, max=492.0ms + task_specific_sample: mean=468.4ms, total=936.8ms, count=2, min=448.9ms, max=487.9ms + scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.1ms, max=2.8ms + mj_forward_sync: mean=465.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + 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] +05/11 16:12:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:12:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:12:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:12:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:12:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:12:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:12:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:12:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:12:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:12:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:12:16 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] +05/11 16:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080227m [env.py: 870] +05/11 16:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:12:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92950499 0.23014891 0.080227 ] yaw=172.5deg [env.py: 1019] +05/11 16:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66534175 0.42834387 0.080227 ] yaw=184.1deg [env.py: 1019] +05/11 16:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82316533 0.11649028 0.080227 ] yaw=163.3deg [env.py: 1019] +05/11 16:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:12:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.5ms, total=91.6ms [env.py: 1075] +05/11 16:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.230, 0.080) [env.py: 1079] +05/11 16:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.5 deg [env.py: 1082] +05/11 16:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m [env.py: 1086] +05/11 16:12:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:12:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:12:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:12:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:12:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:12:16 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 16:12:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/11 16:12:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:12:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:12:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:12:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.707s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:12:17 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.363[m] 80.173[deg] [grasp_sample.py: 539] +05/11 16:12:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:12:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:12:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:12:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:12:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:12:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:12:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:12:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:12:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.07s (batch: 3.68s, save: 11.38s) [pipeline.py: 300] +05/11 16:12:28 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.85s: + episode_total: mean=187.65s, total=187.65s, count=1, min=187652.9ms, max=187652.9ms + sensor_polling: mean=428.7ms, total=128.62s, count=300, min=338.7ms, max=905.6ms + save_trajectories: mean=11.38s, total=11.38s, count=1, min=11381.7ms, max=11381.7ms + physics_step: mean=30.8ms, total=9.23s, count=300, min=21.6ms, max=101.7ms + save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3684.8ms, max=3684.8ms + task_sampling: mean=849.6ms, total=849.6ms, count=1, min=849.6ms, max=849.6ms + task_specific_sample: mean=845.8ms, total=845.8ms, count=1, min=845.8ms, max=845.8ms + scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms + mj_forward_sync: mean=548.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=11.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:12:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:12:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:12:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:12:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:12:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:12:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:12:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:12:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:12:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082285m [env.py: 870] +05/11 16:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:12:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:12:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.7ms, total=192.8ms [env.py: 1105] +05/11 16:12:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 285] +05/11 16:12:30 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/11 16:12:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:12:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:12:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:12:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:12:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:12:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:12:31 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] +05/11 16:12:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:12:31 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] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098905m [env.py: 870] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:12:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88938845 1.06252672 0.09890529] yaw=-146.8deg [env.py: 1019] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70624446 0.26138558 0.09890529] yaw=164.4deg [env.py: 1019] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78694566 1.01338564 0.09890529] yaw=-142.4deg [env.py: 1019] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:12:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.0ms, total=148.1ms [env.py: 1075] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.889, 1.063, 0.099) [env.py: 1079] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.8 deg [env.py: 1082] +05/11 16:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m [env.py: 1086] +05/11 16:12:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:12:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:12:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:12:32 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 16:12:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 16:12:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:12:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:12:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:12:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.114s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:12:34 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.637[m] 88.103[deg] [grasp_sample.py: 539] +05/11 16:12:35 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 16:12:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:12:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:12:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:12:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:12:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:12:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:12:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:12:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:12:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:12:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:12:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019682m [env.py: 870] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:12:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95285771 0.20124999 0.0196824 ] yaw=152.6deg [env.py: 1019] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65914094 0.71149075 0.0196824 ] yaw=-178.2deg [env.py: 1019] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89850405 0.60333123 0.0196824 ] yaw=-174.6deg [env.py: 1019] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:12:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=348.3ms, total=348.4ms [env.py: 1075] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.201, 0.020) [env.py: 1079] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.6 deg [env.py: 1082] +05/11 16:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m [env.py: 1086] +05/11 16:12:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:12:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:12:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:12:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:12:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:12:37 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 16:12:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/11 16:12:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:12:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:12:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:12:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:12:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.721s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:12:39 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.397[m] 97.607[deg] [grasp_sample.py: 539] +05/11 16:12:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:12:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:12:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:12:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:12:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:12:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:12:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:12:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:13:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:13:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:13:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:13:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:13:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:13:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:13:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:13:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:13:53 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:14:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 16:14:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 16:14:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:14:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:14:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/11 16:14:18 INFO: [Worker 0] Feasibility-checked 70 grasps in 0.584s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:14:18 INFO: [Worker 0] Feasible grasp found 94 (originally 94): w/ 0.106[m] 3.913[deg] [grasp_sample.py: 539] +05/11 16:14:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:14:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:14:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:14:20 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:14:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 16:14:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:14:22 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:14:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:14:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:14:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:14:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.52s (batch: 3.54s, save: 11.98s) [pipeline.py: 300] +05/11 16:14:36 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.49s: + episode_total: mean=180.31s, total=180.31s, count=1, min=180310.8ms, max=180310.8ms + sensor_polling: mean=415.4ms, total=124.62s, count=300, min=315.0ms, max=944.9ms + save_trajectories: mean=11.98s, total=11.98s, count=1, min=11978.3ms, max=11978.3ms + physics_step: mean=28.5ms, total=8.54s, count=300, min=21.3ms, max=217.3ms + save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3544.1ms, max=3544.1ms + task_sampling: mean=491.2ms, total=491.2ms, count=1, min=491.2ms, max=491.2ms + task_specific_sample: mean=486.7ms, total=486.7ms, count=1, min=486.7ms, max=486.7ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=477.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + 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] +05/11 16:14:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:37 WARNING: [Worker 0] No trajectory data to save for chunk_103 [pipeline.py: 234] +05/11 16:14:37 WARNING: [Worker 0] No trajectory data to save for chunk_103 [pipeline.py: 234] +05/11 16:14:37 INFO: [Worker 0] Worker 0 completed house 1: 10/11 successful episodes [pipeline.py: 1323] +05/11 16:14:37 INFO: [Worker 0] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=4777.20s + House averages: + episode_total: mean=147.13s, total=2648.36s, count=18, min=353.2ms, max=238425.8ms + sensor_polling: mean=424.0ms, total=1798.16s, count=4241, min=312.9ms, max=1247.1ms + save_trajectories: mean=12.27s, total=122.74s, count=10, min=11076.3ms, max=15363.2ms + physics_step: mean=28.6ms, total=121.20s, count=4241, min=17.1ms, max=217.3ms + save_batch_prep: mean=4.44s, total=44.43s, count=10, min=3544.1ms, max=4824.4ms + task_sampling: mean=962.4ms, total=16.36s, count=17, min=392.0ms, max=7575.5ms + task_specific_sample: mean=571.3ms, total=10.28s, count=18, min=340.7ms, max=1231.6ms + scene_load: mean=6.34s, total=6.34s, count=1, min=6339.6ms, max=6339.6ms + scene_env_create: mean=3.68s, total=3.68s, count=1, min=3679.5ms, max=3679.5ms + scene_compile: mean=2.41s, total=2.41s, count=1, min=2406.6ms, max=2406.6ms + compile_mujoco: mean=1.15s, total=1.15s, count=1, min=1146.7ms, max=1146.7ms + compile_xml_load: mean=1.06s, total=1.06s, count=1, min=1063.3ms, max=1063.3ms + task_sampling_failed: mean=353.2ms, total=353.2ms, count=1, min=353.2ms, max=353.2ms + scene_init: mean=149.3ms, total=149.3ms, count=1, min=149.3ms, max=149.3ms + compile_aux_objects: mean=118.7ms, total=118.7ms, count=1, min=118.7ms, max=118.7ms + compile_aux_policy_objects: mean=118.6ms, total=118.6ms, count=1, min=118.6ms, max=118.6ms + scene_asset_install: mean=103.8ms, total=103.8ms, count=1, min=103.8ms, max=103.8ms + asset_install_grasps: mean=61.2ms, total=61.2ms, count=1, min=61.2ms, max=61.2ms + scene_randomize: mean=2.8ms, total=50.5ms, count=18, min=1.2ms, max=11.2ms + compile_robot_add: mean=33.5ms, total=33.5ms, count=1, min=33.5ms, max=33.5ms + asset_install_objects: mean=21.8ms, total=21.8ms, count=1, min=21.8ms, max=21.8ms + asset_install_scene: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms + mj_forward_sync: mean=567.9us, total=10.2ms, count=18, min=0.5ms, max=1.0ms + policy_setup: mean=20.5us, total=0.3ms, count=17, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 16:14:37 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 16:14:37 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4777.20s + Worker averages: + episode_total: mean=147.13s, total=2648.36s, count=18, min=353.2ms, max=238425.8ms + sensor_polling: mean=424.0ms, total=1798.16s, count=4241, min=312.9ms, max=1247.1ms + save_trajectories: mean=12.27s, total=122.74s, count=10, min=11076.3ms, max=15363.2ms + physics_step: mean=28.6ms, total=121.20s, count=4241, min=17.1ms, max=217.3ms + save_batch_prep: mean=4.44s, total=44.43s, count=10, min=3544.1ms, max=4824.4ms + task_sampling: mean=962.4ms, total=16.36s, count=17, min=392.0ms, max=7575.5ms + task_specific_sample: mean=571.3ms, total=10.28s, count=18, min=340.7ms, max=1231.6ms + scene_load: mean=6.34s, total=6.34s, count=1, min=6339.6ms, max=6339.6ms + scene_env_create: mean=3.68s, total=3.68s, count=1, min=3679.5ms, max=3679.5ms + scene_compile: mean=2.41s, total=2.41s, count=1, min=2406.6ms, max=2406.6ms + compile_mujoco: mean=1.15s, total=1.15s, count=1, min=1146.7ms, max=1146.7ms + compile_xml_load: mean=1.06s, total=1.06s, count=1, min=1063.3ms, max=1063.3ms + task_sampling_failed: mean=353.2ms, total=353.2ms, count=1, min=353.2ms, max=353.2ms + scene_init: mean=149.3ms, total=149.3ms, count=1, min=149.3ms, max=149.3ms + compile_aux_objects: mean=118.7ms, total=118.7ms, count=1, min=118.7ms, max=118.7ms + compile_aux_policy_objects: mean=118.6ms, total=118.6ms, count=1, min=118.6ms, max=118.6ms + scene_asset_install: mean=103.8ms, total=103.8ms, count=1, min=103.8ms, max=103.8ms + asset_install_grasps: mean=61.2ms, total=61.2ms, count=1, min=61.2ms, max=61.2ms + scene_randomize: mean=2.8ms, total=50.5ms, count=18, min=1.2ms, max=11.2ms + compile_robot_add: mean=33.5ms, total=33.5ms, count=1, min=33.5ms, max=33.5ms + asset_install_objects: mean=21.8ms, total=21.8ms, count=1, min=21.8ms, max=21.8ms + asset_install_scene: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms + mj_forward_sync: mean=567.9us, total=10.2ms, count=18, min=0.5ms, max=1.0ms + policy_setup: mean=20.5us, total=0.3ms, count=17, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 16:14:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:14:41 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 16:14:41 INFO: Success count: 10, Total count: 11 [pipeline.py: 1491] +05/11 16:14:41 INFO: Success rate: 90.91% [pipeline.py: 1492] +05/11 16:14:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 16:14:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 16:14:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 16:14:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:14:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:14:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 84 non-colliding grasps [grasp_sample.py: 465] +05/11 16:14:42 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.574s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:14:42 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.025[m] 1.513[deg] [grasp_sample.py: 539] +05/11 16:14:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:14:44 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 16:14:45 WARNING: [Worker 0] No trajectory data to save for chunk_103 [pipeline.py: 234] +05/11 16:14:45 WARNING: [Worker 0] No trajectory data to save for chunk_103 [pipeline.py: 234] +05/11 16:14:45 INFO: [Worker 0] Worker 0 completed house 1: 10/12 successful episodes [pipeline.py: 1323] +05/11 16:14:45 INFO: [Worker 0] [PROFILE] House 1 complete: 10/12 successful, 12 episodes, total_time=4732.34s + House averages: + episode_total: mean=147.63s, total=2657.38s, count=18, min=205.0ms, max=238803.7ms + sensor_polling: mean=428.9ms, total=1751.59s, count=4084, min=312.2ms, max=1891.7ms + save_trajectories: mean=11.94s, total=119.43s, count=10, min=11369.8ms, max=12821.8ms + physics_step: mean=29.2ms, total=119.13s, count=4084, min=14.8ms, max=139.2ms + save_batch_prep: mean=4.14s, total=41.36s, count=10, min=3684.8ms, max=4895.8ms + task_sampling: mean=994.6ms, total=16.91s, count=17, min=448.0ms, max=7557.0ms + task_specific_sample: mean=583.0ms, total=10.49s, count=18, min=199.3ms, max=1008.4ms + scene_load: mean=6.55s, total=6.55s, count=1, min=6545.0ms, max=6545.0ms + scene_env_create: mean=3.58s, total=3.58s, count=1, min=3579.9ms, max=3579.9ms + scene_compile: mean=2.46s, total=2.46s, count=1, min=2455.9ms, max=2455.9ms + compile_mujoco: mean=1.31s, total=1.31s, count=1, min=1311.8ms, max=1311.8ms + compile_xml_load: mean=979.4ms, total=979.4ms, count=1, min=979.4ms, max=979.4ms + scene_init: mean=345.6ms, total=345.6ms, count=1, min=345.6ms, max=345.6ms + task_sampling_failed: mean=205.0ms, total=205.0ms, count=1, min=205.0ms, max=205.0ms + scene_asset_install: mean=163.2ms, total=163.2ms, count=1, min=163.2ms, max=163.2ms + asset_install_grasps: mean=137.3ms, total=137.3ms, count=1, min=137.3ms, max=137.3ms + compile_aux_objects: mean=115.0ms, total=115.0ms, count=1, min=115.0ms, max=115.0ms + compile_aux_policy_objects: mean=115.0ms, total=115.0ms, count=1, min=115.0ms, max=115.0ms + scene_randomize: mean=2.3ms, total=40.6ms, count=18, min=1.1ms, max=3.7ms + compile_robot_add: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms + asset_install_objects: mean=20.5ms, total=20.5ms, count=1, min=20.5ms, max=20.5ms + mj_forward_sync: mean=566.5us, total=10.2ms, count=18, min=0.4ms, max=0.9ms + asset_install_scene: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms + policy_setup: mean=22.7us, total=0.4ms, count=17, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 16:14:45 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 16:14:45 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=4732.34s + Worker averages: + episode_total: mean=147.63s, total=2657.38s, count=18, min=205.0ms, max=238803.7ms + sensor_polling: mean=428.9ms, total=1751.59s, count=4084, min=312.2ms, max=1891.7ms + save_trajectories: mean=11.94s, total=119.43s, count=10, min=11369.8ms, max=12821.8ms + physics_step: mean=29.2ms, total=119.13s, count=4084, min=14.8ms, max=139.2ms + save_batch_prep: mean=4.14s, total=41.36s, count=10, min=3684.8ms, max=4895.8ms + task_sampling: mean=994.6ms, total=16.91s, count=17, min=448.0ms, max=7557.0ms + task_specific_sample: mean=583.0ms, total=10.49s, count=18, min=199.3ms, max=1008.4ms + scene_load: mean=6.55s, total=6.55s, count=1, min=6545.0ms, max=6545.0ms + scene_env_create: mean=3.58s, total=3.58s, count=1, min=3579.9ms, max=3579.9ms + scene_compile: mean=2.46s, total=2.46s, count=1, min=2455.9ms, max=2455.9ms + compile_mujoco: mean=1.31s, total=1.31s, count=1, min=1311.8ms, max=1311.8ms + compile_xml_load: mean=979.4ms, total=979.4ms, count=1, min=979.4ms, max=979.4ms + scene_init: mean=345.6ms, total=345.6ms, count=1, min=345.6ms, max=345.6ms + task_sampling_failed: mean=205.0ms, total=205.0ms, count=1, min=205.0ms, max=205.0ms + scene_asset_install: mean=163.2ms, total=163.2ms, count=1, min=163.2ms, max=163.2ms + asset_install_grasps: mean=137.3ms, total=137.3ms, count=1, min=137.3ms, max=137.3ms + compile_aux_objects: mean=115.0ms, total=115.0ms, count=1, min=115.0ms, max=115.0ms + compile_aux_policy_objects: mean=115.0ms, total=115.0ms, count=1, min=115.0ms, max=115.0ms + scene_randomize: mean=2.3ms, total=40.6ms, count=18, min=1.1ms, max=3.7ms + compile_robot_add: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms + asset_install_objects: mean=20.5ms, total=20.5ms, count=1, min=20.5ms, max=20.5ms + mj_forward_sync: mean=566.5us, total=10.2ms, count=18, min=0.4ms, max=0.9ms + asset_install_scene: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms + policy_setup: mean=22.7us, total=0.4ms, count=17, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 16:14:49 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 16:14:49 INFO: Success count: 10, Total count: 12 [pipeline.py: 1491] +05/11 16:14:49 INFO: Success rate: 83.33% [pipeline.py: 1492] +05/11 16:14:51 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:14:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 16:14:51 INFO: [Worker 0] Preparing episode data: 295 timesteps [save_utils.py: 278] +05/11 16:15:06 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:15:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:15:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:15:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.67s (batch: 3.94s, save: 11.73s) [pipeline.py: 300] +05/11 16:15:07 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.42s: + episode_total: mean=180.72s, total=180.72s, count=1, min=180715.1ms, max=180715.1ms + sensor_polling: mean=418.8ms, total=123.13s, count=294, min=309.3ms, max=1033.3ms + save_trajectories: mean=11.73s, total=11.73s, count=1, min=11730.4ms, max=11730.4ms + physics_step: mean=27.7ms, total=8.14s, count=294, min=16.8ms, max=88.4ms + save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3936.9ms, max=3936.9ms + task_sampling: mean=418.5ms, total=418.5ms, count=1, min=418.5ms, max=418.5ms + task_specific_sample: mean=414.4ms, total=414.4ms, count=1, min=414.4ms, max=414.4ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=453.4us, 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 + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:15:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:15:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:15:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:15:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:15:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:15:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:15:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046205m [env.py: 870] +05/11 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:15:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84424955 0.39651282 0.04620466] yaw=170.2deg [env.py: 1019] +05/11 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74516157 0.55509365 0.04620466] yaw=-175.5deg [env.py: 1019] +05/11 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:15:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=184.5ms, total=184.6ms [env.py: 1075] +05/11 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.844, 0.397, 0.046) [env.py: 1079] +05/11 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.2 deg [env.py: 1082] +05/11 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m [env.py: 1086] +05/11 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:15:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:15:09 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 16:15:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/11 16:15:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:15:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:15:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:15:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.670s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:15:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.376[m] 77.056[deg] [grasp_sample.py: 539] +05/11 16:15:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:15:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:15:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:15:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:15:31 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:15:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 16:15:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:15:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:15:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:15:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:15:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.03s (batch: 3.92s, save: 11.10s) [pipeline.py: 300] +05/11 16:15:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:15:46 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.37s: + episode_total: mean=210.56s, total=210.56s, count=1, min=210558.2ms, max=210558.2ms + sensor_polling: mean=433.8ms, total=130.15s, count=300, min=315.1ms, max=906.1ms + save_trajectories: mean=11.10s, total=11.10s, count=1, min=11103.4ms, max=11103.4ms + physics_step: mean=28.0ms, total=8.40s, count=300, min=17.0ms, max=81.4ms + save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3922.5ms, max=3922.5ms + task_sampling: mean=368.3ms, total=368.3ms, count=1, min=368.3ms, max=368.3ms + task_specific_sample: mean=364.4ms, total=364.4ms, count=1, min=364.4ms, max=364.4ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=454.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:15:48 WARNING: [Worker 0] No trajectory data to save for chunk_103 [pipeline.py: 234] +05/11 16:15:48 WARNING: [Worker 0] No trajectory data to save for chunk_103 [pipeline.py: 234] +05/11 16:15:48 INFO: [Worker 0] Worker 0 completed house 1: 11/11 successful episodes [pipeline.py: 1323] +05/11 16:15:48 INFO: [Worker 0] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=4904.05s + House averages: + episode_total: mean=151.12s, total=2720.08s, count=18, min=4354.1ms, max=235773.1ms + sensor_polling: mean=430.9ms, total=1848.42s, count=4290, min=315.1ms, max=1545.3ms + save_trajectories: mean=11.43s, total=125.72s, count=11, min=10967.0ms, max=12983.4ms + physics_step: mean=29.3ms, total=125.51s, count=4290, min=16.9ms, max=116.3ms + save_batch_prep: mean=4.07s, total=44.75s, count=11, min=3664.7ms, max=4625.6ms + task_sampling: mean=907.5ms, total=16.33s, count=18, min=368.3ms, max=6231.0ms + task_specific_sample: mean=620.3ms, total=11.17s, count=18, min=364.4ms, max=1202.6ms + scene_load: mean=5.10s, total=5.10s, count=1, min=5099.6ms, max=5099.6ms + scene_env_create: mean=3.37s, total=3.37s, count=1, min=3366.2ms, max=3366.2ms + scene_compile: mean=1.49s, total=1.49s, count=1, min=1491.9ms, max=1491.9ms + compile_mujoco: mean=964.0ms, total=964.0ms, count=1, min=964.0ms, max=964.0ms + compile_aux_objects: mean=252.4ms, total=252.4ms, count=1, min=252.4ms, max=252.4ms + compile_aux_policy_objects: mean=252.3ms, total=252.3ms, count=1, min=252.3ms, max=252.3ms + compile_xml_load: mean=240.6ms, total=240.6ms, count=1, min=240.6ms, max=240.6ms + scene_init: mean=149.5ms, total=149.5ms, count=1, min=149.5ms, max=149.5ms + scene_asset_install: mean=91.7ms, total=91.7ms, count=1, min=91.7ms, max=91.7ms + asset_install_grasps: mean=59.0ms, total=59.0ms, count=1, min=59.0ms, max=59.0ms + scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.1ms, max=2.8ms + asset_install_objects: mean=25.7ms, total=25.7ms, count=1, min=25.7ms, max=25.7ms + compile_robot_add: mean=17.2ms, total=17.2ms, count=1, min=17.2ms, max=17.2ms + mj_forward_sync: mean=506.3us, total=9.1ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms + policy_setup: mean=24.8us, 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] +05/11 16:15:48 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 16:15:48 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4904.05s + Worker averages: + episode_total: mean=151.12s, total=2720.08s, count=18, min=4354.1ms, max=235773.1ms + sensor_polling: mean=430.9ms, total=1848.42s, count=4290, min=315.1ms, max=1545.3ms + save_trajectories: mean=11.43s, total=125.72s, count=11, min=10967.0ms, max=12983.4ms + physics_step: mean=29.3ms, total=125.51s, count=4290, min=16.9ms, max=116.3ms + save_batch_prep: mean=4.07s, total=44.75s, count=11, min=3664.7ms, max=4625.6ms + task_sampling: mean=907.5ms, total=16.33s, count=18, min=368.3ms, max=6231.0ms + task_specific_sample: mean=620.3ms, total=11.17s, count=18, min=364.4ms, max=1202.6ms + scene_load: mean=5.10s, total=5.10s, count=1, min=5099.6ms, max=5099.6ms + scene_env_create: mean=3.37s, total=3.37s, count=1, min=3366.2ms, max=3366.2ms + scene_compile: mean=1.49s, total=1.49s, count=1, min=1491.9ms, max=1491.9ms + compile_mujoco: mean=964.0ms, total=964.0ms, count=1, min=964.0ms, max=964.0ms + compile_aux_objects: mean=252.4ms, total=252.4ms, count=1, min=252.4ms, max=252.4ms + compile_aux_policy_objects: mean=252.3ms, total=252.3ms, count=1, min=252.3ms, max=252.3ms + compile_xml_load: mean=240.6ms, total=240.6ms, count=1, min=240.6ms, max=240.6ms + scene_init: mean=149.5ms, total=149.5ms, count=1, min=149.5ms, max=149.5ms + scene_asset_install: mean=91.7ms, total=91.7ms, count=1, min=91.7ms, max=91.7ms + asset_install_grasps: mean=59.0ms, total=59.0ms, count=1, min=59.0ms, max=59.0ms + scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.1ms, max=2.8ms + asset_install_objects: mean=25.7ms, total=25.7ms, count=1, min=25.7ms, max=25.7ms + compile_robot_add: mean=17.2ms, total=17.2ms, count=1, min=17.2ms, max=17.2ms + mj_forward_sync: mean=506.3us, total=9.1ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms + policy_setup: mean=24.8us, 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] +05/11 16:15:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:15:51 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 16:15:51 INFO: Success count: 11, Total count: 11 [pipeline.py: 1491] +05/11 16:15:51 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/11 16:17:12 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:17:39 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:17:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 16:17:39 INFO: [Worker 0] Preparing episode data: 296 timesteps [save_utils.py: 278] +05/11 16:17:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:17:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:17:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 16.17s (batch: 3.85s, save: 12.32s) [pipeline.py: 300] +05/11 16:17:55 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.48s: + episode_total: mean=166.45s, total=166.45s, count=1, min=166448.1ms, max=166448.1ms + sensor_polling: mean=374.8ms, total=110.57s, count=295, min=327.7ms, max=887.9ms + save_trajectories: mean=12.32s, total=12.32s, count=1, min=12318.1ms, max=12318.1ms + physics_step: mean=26.4ms, total=7.79s, count=295, min=16.8ms, max=66.4ms + save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3847.6ms, max=3847.6ms + task_sampling: mean=475.3ms, total=475.3ms, count=1, min=475.3ms, max=475.3ms + task_specific_sample: mean=471.2ms, total=471.2ms, count=1, min=471.2ms, max=471.2ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=476.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:17:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:17:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:17:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:17:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:17:57 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] +05/11 16:17:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:17:57 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] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028686m [env.py: 870] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:17:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72550186 0.45432891 0.0286856 ] yaw=167.0deg [env.py: 1019] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85730379 0.77113867 0.0286856 ] yaw=-160.1deg [env.py: 1019] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92102148 1.2117143 0.0286856 ] yaw=-142.9deg [env.py: 1019] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:17:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.9ms, total=129.0ms [env.py: 1075] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.726, 0.454, 0.029) [env.py: 1079] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg [env.py: 1082] +05/11 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/11 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:17:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:17:57 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 16:17:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 16:17:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:17:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:17:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:17:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.920s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:17:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.583[m] 96.172[deg] [grasp_sample.py: 539] +05/11 16:17:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:17:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:17:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:17:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:18:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:18:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:18:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:19:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:19:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:19:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:19:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:20:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:20:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:20:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 16:20:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 16:20:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 16:20:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:20:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:20:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 16:20:06 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.689s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:20:06 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.142[deg] [grasp_sample.py: 539] +05/11 16:20:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:20:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:20:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:20:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:20:17 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:20:45 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m/sim_chunks/chunk_103 [pipeline.py: 1174] +05/11 16:20:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 16:20:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:20:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:20:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_103 [save_utils.py: 785] +05/11 16:20:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 14.06s (batch: 3.44s, save: 10.62s) [pipeline.py: 300] +05/11 16:20:59 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.41s: + episode_total: mean=182.85s, total=182.85s, count=1, min=182846.9ms, max=182846.9ms + sensor_polling: mean=387.9ms, total=116.37s, count=300, min=325.7ms, max=804.4ms + save_trajectories: mean=10.62s, total=10.62s, count=1, min=10621.5ms, max=10621.5ms + physics_step: mean=24.3ms, total=7.28s, count=300, min=16.1ms, max=56.0ms + save_batch_prep: mean=3.44s, total=3.44s, count=1, min=3438.6ms, max=3438.6ms + task_sampling: mean=408.0ms, total=408.0ms, count=1, min=408.0ms, max=408.0ms + task_specific_sample: mean=403.9ms, total=403.9ms, count=1, min=403.9ms, max=403.9ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=565.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:21:01 WARNING: [Worker 0] No trajectory data to save for chunk_103 [pipeline.py: 234] +05/11 16:21:01 WARNING: [Worker 0] No trajectory data to save for chunk_103 [pipeline.py: 234] +05/11 16:21:01 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes [pipeline.py: 1323] +05/11 16:21:01 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5429.01s + House averages: + episode_total: mean=168.54s, total=3033.64s, count=18, min=7464.8ms, max=244058.0ms + sensor_polling: mean=422.0ms, total=2006.27s, count=4754, min=309.3ms, max=1223.5ms + save_trajectories: mean=12.10s, total=157.33s, count=13, min=10621.5ms, max=14621.5ms + physics_step: mean=28.6ms, total=136.13s, count=4754, min=16.1ms, max=117.8ms + save_batch_prep: mean=4.01s, total=52.10s, count=13, min=3438.6ms, max=4913.8ms + task_sampling: mean=956.3ms, total=17.21s, count=18, min=380.6ms, max=7471.8ms + task_specific_sample: mean=601.0ms, total=10.82s, count=18, min=376.9ms, max=1142.7ms + scene_load: mean=6.33s, total=6.33s, count=1, min=6325.9ms, max=6325.9ms + scene_env_create: mean=3.48s, total=3.48s, count=1, min=3476.1ms, max=3476.1ms + scene_compile: mean=2.48s, total=2.48s, count=1, min=2478.0ms, max=2478.0ms + compile_mujoco: mean=1.39s, total=1.39s, count=1, min=1390.5ms, max=1390.5ms + compile_xml_load: mean=910.2ms, total=910.2ms, count=1, min=910.2ms, max=910.2ms + scene_asset_install: mean=210.0ms, total=210.0ms, count=1, min=210.0ms, max=210.0ms + scene_init: mean=161.5ms, total=161.5ms, count=1, min=161.5ms, max=161.5ms + asset_install_objects: mean=140.4ms, total=140.4ms, count=1, min=140.4ms, max=140.4ms + compile_aux_objects: mean=123.4ms, total=123.4ms, count=1, min=123.4ms, max=123.4ms + compile_aux_policy_objects: mean=123.4ms, total=123.4ms, count=1, min=123.4ms, max=123.4ms + asset_install_grasps: mean=59.0ms, total=59.0ms, count=1, min=59.0ms, max=59.0ms + compile_robot_add: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms + scene_randomize: mean=2.3ms, total=40.7ms, count=18, min=1.3ms, max=2.9ms + asset_install_scene: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + mj_forward_sync: mean=523.5us, total=9.4ms, count=18, min=0.5ms, max=0.8ms + policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 16:21:01 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 16:21:01 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5429.01s + Worker averages: + episode_total: mean=168.54s, total=3033.64s, count=18, min=7464.8ms, max=244058.0ms + sensor_polling: mean=422.0ms, total=2006.27s, count=4754, min=309.3ms, max=1223.5ms + save_trajectories: mean=12.10s, total=157.33s, count=13, min=10621.5ms, max=14621.5ms + physics_step: mean=28.6ms, total=136.13s, count=4754, min=16.1ms, max=117.8ms + save_batch_prep: mean=4.01s, total=52.10s, count=13, min=3438.6ms, max=4913.8ms + task_sampling: mean=956.3ms, total=17.21s, count=18, min=380.6ms, max=7471.8ms + task_specific_sample: mean=601.0ms, total=10.82s, count=18, min=376.9ms, max=1142.7ms + scene_load: mean=6.33s, total=6.33s, count=1, min=6325.9ms, max=6325.9ms + scene_env_create: mean=3.48s, total=3.48s, count=1, min=3476.1ms, max=3476.1ms + scene_compile: mean=2.48s, total=2.48s, count=1, min=2478.0ms, max=2478.0ms + compile_mujoco: mean=1.39s, total=1.39s, count=1, min=1390.5ms, max=1390.5ms + compile_xml_load: mean=910.2ms, total=910.2ms, count=1, min=910.2ms, max=910.2ms + scene_asset_install: mean=210.0ms, total=210.0ms, count=1, min=210.0ms, max=210.0ms + scene_init: mean=161.5ms, total=161.5ms, count=1, min=161.5ms, max=161.5ms + asset_install_objects: mean=140.4ms, total=140.4ms, count=1, min=140.4ms, max=140.4ms + compile_aux_objects: mean=123.4ms, total=123.4ms, count=1, min=123.4ms, max=123.4ms + compile_aux_policy_objects: mean=123.4ms, total=123.4ms, count=1, min=123.4ms, max=123.4ms + asset_install_grasps: mean=59.0ms, total=59.0ms, count=1, min=59.0ms, max=59.0ms + compile_robot_add: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms + scene_randomize: mean=2.3ms, total=40.7ms, count=18, min=1.3ms, max=2.9ms + asset_install_scene: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + mj_forward_sync: mean=523.5us, total=9.4ms, count=18, min=0.5ms, max=0.8ms + policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 16:21:04 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 16:21:04 INFO: Success count: 13, Total count: 13 [pipeline.py: 1491] +05/11 16:21:04 INFO: Success rate: 100.00% [pipeline.py: 1492] diff --git 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0000000000000000000000000000000000000000..144ea7136849860ccac704e68a428d7af909d187 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_104/experiment_config_20260511_162232.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94a3506f136a00fce2d25a9956e3bd0f2215f1b581d97f57d65df36963fe5a7b +size 8011 diff --git a/fridge_m/sim_chunks/chunk_104/running_log.log b/fridge_m/sim_chunks/chunk_104/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..05ebe86c774e011c18055b8b9b0528b533a61f69 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_104/running_log.log @@ -0,0 +1,1722 @@ +05/11 16:22:32 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 16:22:32 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 16:22:32 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 16:22:32 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_104'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40401, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 16:22:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 16:22:32 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 16:22:32 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 16:22:32 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 16:22:32 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 16:22:32 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 16:22:32 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_104'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40402, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 16:22:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 16:22:32 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 16:22:32 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 16:22:32 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 16:22:32 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 16:22:32 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 16:22:32 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 16:22:32 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 16:22:32 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 16:22:32 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_m/sim_chunks/chunk_104'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40403, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 16:22:32 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_104'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40404, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 16:22:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 16:22:32 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 16:22:32 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 16:22:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 16:22:32 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 16:22:32 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 16:22:33 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 16:22:33 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 16:22:33 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 16:22:33 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 16:22:37 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 16:22:37 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 16:22:37 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 16:22:37 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 16:22:37 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 16:22:37 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 16:22:37 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 16:22:37 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 16:22:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:22:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:22:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:22:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:22:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:22:37 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] +05/11 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039604m [env.py: 870] +05/11 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:22:37 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 16:22:37 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 16:22:37 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 16:22:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:22:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:22:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:22:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:22:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:22:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024346m [env.py: 870] +05/11 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:22:37 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:22:38 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 16:22:38 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 16:22:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:22:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:22:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:22:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:22:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:22:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097474m [env.py: 870] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:22:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:22:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 16:22:38 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80494514 0.49142569 0.03960374] yaw=-188.6deg [env.py: 1019] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88266479 0.37006973 0.03960374] yaw=165.7deg [env.py: 1019] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90373051 0.81728097 0.03960374] yaw=-162.4deg [env.py: 1019] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:22:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=27.9ms, retries=205.4ms, total=233.3ms [env.py: 1075] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.805, 0.491, 0.040) [env.py: 1079] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.6 deg [env.py: 1082] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:22:38 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 16:22:38 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 16:22:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:22:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70434504 0.43811307 0.024346 ] yaw=169.2deg [env.py: 1019] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:22:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:22:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:22:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:22:38 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] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037570m [env.py: 870] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:22:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12522797 1.03045051 0.024346 ] yaw=-133.9deg [env.py: 1019] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96748661 0.26483146 0.024346 ] yaw=170.7deg [env.py: 1019] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:22:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=32.8ms, retries=329.6ms, total=362.5ms [env.py: 1075] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.704, 0.438, 0.024) [env.py: 1079] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.2 deg [env.py: 1082] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m [env.py: 1086] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89822166 1.04985535 0.03757007] yaw=-143.3deg [env.py: 1019] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.61698426 0.58461633 0.03757007] yaw=-178.7deg [env.py: 1019] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99569742 0.91467287 0.09747354] yaw=-156.0deg [env.py: 1019] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80905976 0.29784531 0.03757007] yaw=167.0deg [env.py: 1019] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:22:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=36.2ms, retries=143.2ms, total=179.4ms [env.py: 1075] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.898, 1.050, 0.038) [env.py: 1079] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.3 deg [env.py: 1082] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74059934 0.05262353 0.09747354] yaw=145.1deg [env.py: 1019] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07963853 1.04535704 0.09747354] yaw=-141.4deg [env.py: 1019] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:22:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=69.5ms, retries=403.5ms, total=473.0ms [env.py: 1075] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.915, 0.097) [env.py: 1079] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.0 deg [env.py: 1082] +05/11 16:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:22:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:22:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:22:38 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 16:22:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:22:38 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 16:22:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:22:38 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 16:22:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:22:38 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 16:23:15 INFO: [Worker 0] Warmed up parallel IK solver in 37.229s [base_object_manipulation_planner_policy.py: 377] +05/11 16:23:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:23:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:23:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:23:17 INFO: [Worker 0] Warmed up parallel IK solver in 38.830s [base_object_manipulation_planner_policy.py: 377] +05/11 16:23:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:23:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:23:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:23:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.741s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:23:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.438[m] 81.445[deg] [grasp_sample.py: 539] +05/11 16:23:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:23:18 INFO: [Worker 0] Warmed up parallel IK solver in 39.653s [base_object_manipulation_planner_policy.py: 377] +05/11 16:23:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:23:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:23:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:23:18 INFO: [Worker 0] Warmed up parallel IK solver in 39.700s [base_object_manipulation_planner_policy.py: 377] +05/11 16:23:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:23:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:23:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:23:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:23:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:23:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.814s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:23:18 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.585[m] 90.119[deg] [grasp_sample.py: 539] +05/11 16:23:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:23:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:23:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.159s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:23:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.547[m] 83.461[deg] [grasp_sample.py: 539] +05/11 16:23:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:23:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:23:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:23:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.209s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:23:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.422[m] 88.809[deg] [grasp_sample.py: 539] +05/11 16:23:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:23:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:23:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:23:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:23:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:23:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:23:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:23:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:23:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:24:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:24:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:24:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:24:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:24:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:24:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:24:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:24:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:24:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:24:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:25:19 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 16:25:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 16:25:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:25:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:25:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 16:25:20 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.684s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:25:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.116[m] 2.472[deg] [grasp_sample.py: 539] +05/11 16:25:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:25:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:25:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:25:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:25:32 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:25:32 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:25:33 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:25:33 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:26:05 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:26:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 16:26:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:26:05 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:26:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 16:26:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:26:09 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:26:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 16:26:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:26:10 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:26:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 16:26:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:26:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:26:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:26:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 16.60s (batch: 4.20s, save: 12.40s) [pipeline.py: 300] +05/11 16:26:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:26:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:26:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 16.48s (batch: 4.11s, save: 12.36s) [pipeline.py: 300] +05/11 16:26:22 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=6.06s: + episode_total: mean=229.76s, total=229.76s, count=1, min=229759.3ms, max=229759.3ms + sensor_polling: mean=402.4ms, total=120.72s, count=300, min=315.9ms, max=605.0ms + save_trajectories: mean=12.40s, total=12.40s, count=1, min=12403.3ms, max=12403.3ms + physics_step: mean=28.7ms, total=8.61s, count=300, min=17.1ms, max=86.6ms + task_sampling: mean=6.06s, total=6.06s, count=1, min=6064.4ms, max=6064.4ms + scene_load: mean=5.35s, total=5.35s, count=1, min=5348.3ms, max=5348.3ms + save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4195.1ms, max=4195.1ms + scene_env_create: mean=3.60s, total=3.60s, count=1, min=3600.9ms, max=3600.9ms + scene_compile: mean=1.48s, total=1.48s, count=1, min=1482.4ms, max=1482.4ms + compile_mujoco: mean=1.06s, total=1.06s, count=1, min=1062.5ms, max=1062.5ms + task_specific_sample: mean=713.2ms, total=713.2ms, count=1, min=713.2ms, max=713.2ms + compile_xml_load: mean=322.8ms, total=322.8ms, count=1, min=322.8ms, max=322.8ms + scene_init: mean=203.4ms, total=203.4ms, count=1, min=203.4ms, max=203.4ms + scene_asset_install: mean=57.7ms, total=57.7ms, count=1, min=57.7ms, max=57.7ms + compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms + compile_aux_policy_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms + asset_install_grasps: mean=38.8ms, total=38.8ms, count=1, min=38.8ms, max=38.8ms + compile_robot_add: mean=33.6ms, total=33.6ms, count=1, min=33.6ms, max=33.6ms + asset_install_objects: mean=13.4ms, total=13.4ms, count=1, min=13.4ms, max=13.4ms + asset_install_scene: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=562.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=34.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:26:22 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=6.31s: + episode_total: mean=230.15s, total=230.15s, count=1, min=230149.3ms, max=230149.3ms + sensor_polling: mean=404.7ms, total=121.40s, count=300, min=337.0ms, max=583.6ms + save_trajectories: mean=12.36s, total=12.36s, count=1, min=12361.7ms, max=12361.7ms + physics_step: mean=26.6ms, total=7.99s, count=300, min=17.2ms, max=92.1ms + task_sampling: mean=6.31s, total=6.31s, count=1, min=6310.5ms, max=6310.5ms + scene_load: mean=5.45s, total=5.45s, count=1, min=5449.5ms, max=5449.5ms + save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4113.6ms, max=4113.6ms + scene_env_create: mean=3.77s, total=3.77s, count=1, min=3769.1ms, max=3769.1ms + scene_compile: mean=1.46s, total=1.46s, count=1, min=1463.1ms, max=1463.1ms + compile_mujoco: mean=991.0ms, total=991.0ms, count=1, min=991.0ms, max=991.0ms + task_specific_sample: mean=857.8ms, total=857.8ms, count=1, min=857.8ms, max=857.8ms + compile_xml_load: mean=372.0ms, total=372.0ms, count=1, min=372.0ms, max=372.0ms + scene_init: mean=160.8ms, total=160.8ms, count=1, min=160.8ms, max=160.8ms + compile_aux_objects: mean=56.8ms, total=56.8ms, count=1, min=56.8ms, max=56.8ms + compile_aux_policy_objects: mean=56.8ms, total=56.8ms, count=1, min=56.8ms, max=56.8ms + scene_asset_install: mean=56.3ms, total=56.3ms, count=1, min=56.3ms, max=56.3ms + asset_install_grasps: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms + compile_robot_add: mean=32.3ms, total=32.3ms, count=1, min=32.3ms, max=32.3ms + asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=596.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=45.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:26:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:26:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:26:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:26:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:26:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:26:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:26:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030081m [env.py: 870] +05/11 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:26:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66877944 0.31614502 0.03008094] yaw=172.6deg [env.py: 1019] +05/11 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70702198 0.30524065 0.03008094] yaw=180.3deg [env.py: 1019] +05/11 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:26:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=199.7ms, total=199.7ms [env.py: 1075] +05/11 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.669, 0.316, 0.030) [env.py: 1079] +05/11 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.6 deg [env.py: 1082] +05/11 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m [env.py: 1086] +05/11 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:26:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:26:24 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 16:26:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/11 16:26:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:26:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:26:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:26:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:26:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:26:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:26:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:26:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:26:24 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] +05/11 16:26:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:26:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028261m [env.py: 870] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:26:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:26:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79770266 0.05192701 0.02826115] yaw=146.5deg [env.py: 1019] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92139882 0.95371552 0.02826115] yaw=-139.1deg [env.py: 1019] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92011043 0.38226967 0.02826115] yaw=178.5deg [env.py: 1019] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:26:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.2ms, total=174.3ms [env.py: 1075] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.052, 0.028) [env.py: 1079] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.5 deg [env.py: 1082] +05/11 16:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/11 16:26:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:26:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:26:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:26:24 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 16:26:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/11 16:26:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:26:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:26:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:26:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.041s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:26:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.622[m] 93.443[deg] [grasp_sample.py: 539] +05/11 16:26:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:26:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:26:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:26:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 16.08s (batch: 4.31s, save: 11.77s) [pipeline.py: 300] +05/11 16:26:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:26:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:26:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:26:26 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=6.27s: + episode_total: mean=234.08s, total=234.08s, count=1, min=234080.6ms, max=234080.6ms + sensor_polling: mean=405.5ms, total=121.66s, count=300, min=307.1ms, max=682.9ms + save_trajectories: mean=11.77s, total=11.77s, count=1, min=11768.6ms, max=11768.6ms + physics_step: mean=27.4ms, total=8.22s, count=300, min=17.3ms, max=67.9ms + task_sampling: mean=6.27s, total=6.27s, count=1, min=6271.2ms, max=6271.2ms + scene_load: mean=5.76s, total=5.76s, count=1, min=5755.1ms, max=5755.1ms + save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4313.8ms, max=4313.8ms + scene_env_create: mean=4.00s, total=4.00s, count=1, min=4003.6ms, max=4003.6ms + scene_compile: mean=1.51s, total=1.51s, count=1, min=1514.5ms, max=1514.5ms + compile_mujoco: mean=941.4ms, total=941.4ms, count=1, min=941.4ms, max=941.4ms + task_specific_sample: mean=512.9ms, total=512.9ms, count=1, min=512.9ms, max=512.9ms + compile_xml_load: mean=477.5ms, total=477.5ms, count=1, min=477.5ms, max=477.5ms + scene_init: mean=176.7ms, total=176.7ms, count=1, min=176.7ms, max=176.7ms + scene_asset_install: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms + compile_aux_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms + compile_aux_policy_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms + asset_install_grasps: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms + compile_robot_add: mean=31.8ms, total=31.8ms, count=1, min=31.8ms, max=31.8ms + asset_install_objects: mean=11.9ms, total=11.9ms, count=1, min=11.9ms, max=11.9ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=605.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=30.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:26:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:26:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:26:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 16.61s (batch: 4.28s, save: 12.32s) [pipeline.py: 300] +05/11 16:26:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.296s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:26:27 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.586[m] 96.513[deg] [grasp_sample.py: 539] +05/11 16:26:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:26:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:26:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:26:27 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=5.90s: + episode_total: mean=235.29s, total=235.29s, count=1, min=235287.6ms, max=235287.6ms + sensor_polling: mean=410.8ms, total=123.25s, count=300, min=331.8ms, max=625.2ms + save_trajectories: mean=12.32s, total=12.32s, count=1, min=12324.8ms, max=12324.8ms + physics_step: mean=28.9ms, total=8.67s, count=300, min=21.5ms, max=61.3ms + task_sampling: mean=5.90s, total=5.90s, count=1, min=5904.9ms, max=5904.9ms + scene_load: mean=5.31s, total=5.31s, count=1, min=5306.7ms, max=5306.7ms + save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4284.6ms, max=4284.6ms + scene_env_create: mean=3.59s, total=3.59s, count=1, min=3589.0ms, max=3589.0ms + scene_compile: mean=1.42s, total=1.42s, count=1, min=1415.5ms, max=1415.5ms + compile_mujoco: mean=1.07s, total=1.07s, count=1, min=1073.7ms, max=1073.7ms + task_specific_sample: mean=595.0ms, total=595.0ms, count=1, min=595.0ms, max=595.0ms + compile_xml_load: mean=236.7ms, total=236.7ms, count=1, min=236.7ms, max=236.7ms + scene_init: mean=164.9ms, total=164.9ms, count=1, min=164.9ms, max=164.9ms + scene_asset_install: mean=136.9ms, total=136.9ms, count=1, min=136.9ms, max=136.9ms + asset_install_objects: mean=69.8ms, total=69.8ms, count=1, min=69.8ms, max=69.8ms + compile_aux_objects: mean=62.9ms, total=62.9ms, count=1, min=62.9ms, max=62.9ms + compile_aux_policy_objects: mean=62.9ms, total=62.9ms, count=1, min=62.9ms, max=62.9ms + asset_install_grasps: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms + compile_robot_add: mean=33.4ms, total=33.4ms, count=1, min=33.4ms, max=33.4ms + asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=564.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=27.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:26:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:26:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:26:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:26:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:26:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:26:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:26:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:26:27 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] +05/11 16:26:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:26:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034483m [env.py: 870] +05/11 16:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:26:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67976396 0.64004635 0.03448295] yaw=-159.9deg [env.py: 1019] +05/11 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82477443 0.13970008 0.03448295] yaw=167.9deg [env.py: 1019] +05/11 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92859095 0.59194163 0.03448295] yaw=-174.6deg [env.py: 1019] +05/11 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:26:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=336.8ms, total=336.9ms [env.py: 1075] +05/11 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.680, 0.640, 0.034) [env.py: 1079] +05/11 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg [env.py: 1082] +05/11 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/11 16:26:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:26:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:26:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:26:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:26:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:26:28 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 16:26:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s [base_object_manipulation_planner_policy.py: 377] +05/11 16:26:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:26:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:26:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:26:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:26:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:26:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:26:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:26:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:26:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:26:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010375m [env.py: 870] +05/11 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:26:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77344337 0.53158968 0.01037539] yaw=-185.7deg [env.py: 1019] +05/11 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88159422 0.43939434 0.01037539] yaw=170.9deg [env.py: 1019] +05/11 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84485851 1.14658139 0.01037539] yaw=-145.5deg [env.py: 1019] +05/11 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:26:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=122.5ms, total=122.6ms [env.py: 1075] +05/11 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.773, 0.532, 0.010) [env.py: 1079] +05/11 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.7 deg [env.py: 1082] +05/11 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/11 16:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:26:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.977s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:26:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.601[m] 84.573[deg] [grasp_sample.py: 539] +05/11 16:26:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:26:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:26:29 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 16:26:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/11 16:26:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:26:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:26:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:26:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:26:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:26:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:26:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.951s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:26:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.520[m] 95.937[deg] [grasp_sample.py: 539] +05/11 16:26:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:26:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:26:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:26:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:27:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:27:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:27:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:27:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:27:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:27:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:27:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:27:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:27:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:27:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:27:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:27:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:28:45 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:28:48 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:28:48 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:28:53 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:29:15 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:29:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 16:29:15 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:29:18 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:29:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 16:29:18 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:29:20 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:29:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 16:29:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:29:23 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:29:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 16:29:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:29:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:29:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:29:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 17.45s (batch: 5.22s, save: 12.22s) [pipeline.py: 300] +05/11 16:29:33 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.46s: + episode_total: mean=190.17s, total=190.17s, count=1, min=190172.3ms, max=190172.3ms + sensor_polling: mean=427.1ms, total=128.14s, count=300, min=320.6ms, max=747.1ms + save_trajectories: mean=12.22s, total=12.22s, count=1, min=12224.9ms, max=12224.9ms + physics_step: mean=28.2ms, total=8.46s, count=300, min=17.0ms, max=88.4ms + save_batch_prep: mean=5.22s, total=5.22s, count=1, min=5220.4ms, max=5220.4ms + task_sampling: mean=458.0ms, total=458.0ms, count=1, min=458.0ms, max=458.0ms + task_specific_sample: mean=453.8ms, total=453.8ms, count=1, min=453.8ms, max=453.8ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=552.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:29:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:29:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:29:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:29:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:29:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:29:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:29:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:29:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:29:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:29:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:29:35 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] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029073m [env.py: 870] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:29:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:29:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:29:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:29:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 16.46s (batch: 4.96s, save: 11.50s) [pipeline.py: 300] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80861061 0.66594484 0.02907343] yaw=-179.8deg [env.py: 1019] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79725085 0.85628309 0.02907343] yaw=-160.1deg [env.py: 1019] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10122092 1.13857006 0.02907343] yaw=-122.1deg [env.py: 1019] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:29:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=135.8ms, total=135.9ms [env.py: 1075] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.809, 0.666, 0.029) [env.py: 1079] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.8 deg [env.py: 1082] +05/11 16:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/11 16:29:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:29:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:29:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:29:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:29:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:29:35 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 16:29:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/11 16:29:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:29:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:29:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:29:36 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.68s: + episode_total: mean=188.20s, total=188.20s, count=1, min=188204.6ms, max=188204.6ms + sensor_polling: mean=422.1ms, total=126.63s, count=300, min=327.0ms, max=743.2ms + save_trajectories: mean=11.50s, total=11.50s, count=1, min=11495.5ms, max=11495.5ms + physics_step: mean=27.9ms, total=8.37s, count=300, min=19.8ms, max=70.1ms + save_batch_prep: mean=4.96s, total=4.96s, count=1, min=4961.0ms, max=4961.0ms + task_sampling: mean=676.0ms, total=676.0ms, count=1, min=676.0ms, max=676.0ms + task_specific_sample: mean=672.0ms, total=672.0ms, count=1, min=672.0ms, max=672.0ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=454.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=25.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:29:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.690s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:29:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.469[m] 88.320[deg] [grasp_sample.py: 539] +05/11 16:29:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:29:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:29:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:29:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:29:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:29:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 16.59s (batch: 5.10s, save: 11.49s) [pipeline.py: 300] +05/11 16:29:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:29:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:29:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:29:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:29:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:29:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:29:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:29:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:29:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:29:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:29:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:29:37 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] +05/11 16:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021252m [env.py: 870] +05/11 16:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:29:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86917535 0.23245138 0.02125199] yaw=161.7deg [env.py: 1019] +05/11 16:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02965789 0.83271675 0.02125199] yaw=-160.7deg [env.py: 1019] +05/11 16:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80554605 0.31641469 0.02125199] yaw=160.3deg [env.py: 1019] +05/11 16:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:29:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.2ms, total=96.2ms [env.py: 1075] +05/11 16:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.232, 0.021) [env.py: 1079] +05/11 16:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.7 deg [env.py: 1082] +05/11 16:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m [env.py: 1086] +05/11 16:29:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:29:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:29:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:29:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:29:37 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.46s: + episode_total: mean=193.67s, total=193.67s, count=1, min=193671.6ms, max=193671.6ms + sensor_polling: mean=429.4ms, total=128.82s, count=300, min=346.5ms, max=696.0ms + save_trajectories: mean=11.49s, total=11.49s, count=1, min=11489.6ms, max=11489.6ms + physics_step: mean=28.6ms, total=8.58s, count=300, min=16.9ms, max=77.9ms + save_batch_prep: mean=5.10s, total=5.10s, count=1, min=5096.7ms, max=5096.7ms + task_sampling: mean=459.3ms, total=459.3ms, count=1, min=459.3ms, max=459.3ms + task_specific_sample: mean=455.4ms, total=455.4ms, count=1, min=455.4ms, max=455.4ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=450.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:29:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:29:37 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 16:29:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/11 16:29:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:29:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:29:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:29:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.726s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:29:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.431[m] 91.152[deg] [grasp_sample.py: 539] +05/11 16:29:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:29:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:29:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:29:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:29:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:29:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:29:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:29:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:29:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:29:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:29:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:29:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082871m [env.py: 870] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:29:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:29:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88742592 0.37601558 0.0828714 ] yaw=175.9deg [env.py: 1019] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:29:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:29:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 15.90s (batch: 4.18s, save: 11.72s) [pipeline.py: 300] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87971192 0.37109889 0.0828714 ] yaw=171.4deg [env.py: 1019] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.02508085 0.14314445 0.0828714 ] yaw=143.7deg [env.py: 1019] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:29:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.3ms, total=189.4ms [env.py: 1075] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.887, 0.376, 0.083) [env.py: 1079] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.9 deg [env.py: 1082] +05/11 16:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m [env.py: 1086] +05/11 16:29:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:29:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:29:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:29:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:29:39 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 16:29:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 16:29:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:29:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:29:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:29:40 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.46s: + episode_total: mean=190.79s, total=190.79s, count=1, min=190792.9ms, max=190792.9ms + sensor_polling: mean=427.3ms, total=128.20s, count=300, min=336.9ms, max=757.9ms + save_trajectories: mean=11.72s, total=11.72s, count=1, min=11721.5ms, max=11721.5ms + physics_step: mean=29.4ms, total=8.83s, count=300, min=21.5ms, max=80.2ms + save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4176.1ms, max=4176.1ms + task_sampling: mean=458.6ms, total=458.6ms, count=1, min=458.6ms, max=458.6ms + task_specific_sample: mean=453.9ms, total=453.9ms, count=1, min=453.9ms, max=453.9ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=600.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:29:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.621s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:29:40 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.392[m] 92.531[deg] [grasp_sample.py: 539] +05/11 16:29:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:29:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:29:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:29:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:29:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:29:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:29:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:29:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:29:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:29:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:29:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:29:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:29:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:29:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:29:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019818m [env.py: 870] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:29:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89142161 0.70465654 0.01981783] yaw=-162.4deg [env.py: 1019] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98462824 0.09434702 0.01981783] yaw=150.2deg [env.py: 1019] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84133399 0.47989677 0.01981783] yaw=177.5deg [env.py: 1019] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:29:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.2ms, total=140.3ms [env.py: 1075] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.705, 0.020) [env.py: 1079] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.4 deg [env.py: 1082] +05/11 16:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/11 16:29:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:29:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:29:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:29:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:29:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:29:42 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 16:29:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/11 16:29:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:29:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:29:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:29:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.869s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:29:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.429[m] 91.279[deg] [grasp_sample.py: 539] +05/11 16:29:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:29:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:29:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:29:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:30:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:30:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:30:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:30:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:30:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:30:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:30:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:30:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:30:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:30:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:30:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:30:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] diff --git a/fridge_m/sim_chunks/chunk_104/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_104/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9105184c36c840d0c0254465ca16ed9b284bc170 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_104/trajectories_batch_1_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0ecbb51568a18aff827ca7e00c9f641c2d789bc331e0450b510059ba8a1c31d +size 146445159 diff --git a/fridge_m/sim_chunks/chunk_104/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_104/trajectories_batch_2_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..318d591544835a41ab519167242b8a27d528ff26 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_104/trajectories_batch_2_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2434a81ff161203f78fb6aa913fa0a5ecd593abb362f15fe02d5a41483ad54aa +size 155275418 diff --git a/fridge_m/sim_chunks/chunk_104/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_104/trajectories_batch_3_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dbfa538c94b27e791859c6109e3da105d8e65f0e --- /dev/null +++ b/fridge_m/sim_chunks/chunk_104/trajectories_batch_3_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b6c2d543782e1f27d7bc51111f0db232c26257926f4fd0c5f8d86bed3810a38 +size 152104591 diff --git a/fridge_m/sim_chunks/chunk_104/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_104/trajectories_batch_4_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7c06f9bf30d3ff47ff201b689f42752791b45065 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_104/trajectories_batch_4_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23c52d474ef73acbb90d579d5adfe672461f4e8504be2bb822e787144890e54d +size 167602726