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a/fridge_m_0.7_pd/chunk_010/episode_00000011_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_010/episode_00000011_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bbf16b163b49d1bf16d34d9b3119776ad7a1e289 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_010/episode_00000011_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:571c1cfdb466d227b1136b14d8a3a7d76e79d6fedd45eae1ee2b66fefc9a8393 +size 380824 diff --git a/fridge_m_0.7_pd/chunk_010/episode_00000011_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_010/episode_00000011_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a977e5df5a8282c9212da88d3dc9bab7df45b242 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_010/episode_00000011_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd15e5570fe2b8fc2afee403919fcb92e516f9173fdabd633574cc59d3234d91 +size 318325 diff --git a/fridge_m_0.7_pd/chunk_010/running_log.log b/fridge_m_0.7_pd/chunk_010/running_log.log index 0675568b87c9fdf8feacaf4496ea7c16c3a4d4de..e3e9ea9b42264a24f3912094d416391aeff856bb 100644 --- a/fridge_m_0.7_pd/chunk_010/running_log.log +++ b/fridge_m_0.7_pd/chunk_010/running_log.log @@ -4475,3 +4475,1949 @@ 05/12 09:27:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] 05/12 09:27:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] 05/12 09:27:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:28:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:28:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:29:01 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:29:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:29:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:29:07 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] +05/12 09:29:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:29:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 09:29:08 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.908s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:29:08 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.637[deg] [grasp_sample.py: 539] +05/12 09:29:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:09 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:29:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:29:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:29:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:29:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:29:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:29:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:29:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:29:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:29:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:29:11 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] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053274m [env.py: 870] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:29:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75847196 0.4193959 0.05327352] yaw=172.0deg [env.py: 1019] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96258593 0.74592237 0.05327352] yaw=-130.4deg [env.py: 1019] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96568899 0.63839089 0.05327352] yaw=-168.1deg [env.py: 1019] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:29:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.8ms, total=141.9ms [env.py: 1075] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.758, 0.419, 0.053) [env.py: 1079] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.0 deg [env.py: 1082] +05/12 09:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/12 09:29:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:29:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:29:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:29:12 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 09:29:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 09:29:12 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] +05/12 09:29:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:29:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:29:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.023s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:29:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.527[m] 96.930[deg] [grasp_sample.py: 539] +05/12 09:29:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:29:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:29:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:29:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:29:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:29:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:29:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:29:16 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] +05/12 09:29:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:29:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 09:29:18 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.429s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:29:18 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:29:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:29:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:29:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:29:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:29:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:29:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:29:20 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] +05/12 09:29:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:29:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042066m [env.py: 870] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:29:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78149021 0.04592487 0.042066 ] yaw=187.1deg [env.py: 1019] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94821836 1.25056585 0.042066 ] yaw=-149.5deg [env.py: 1019] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90995443 1.19368807 0.042066 ] yaw=-111.3deg [env.py: 1019] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:29:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=154.4ms, total=154.4ms [env.py: 1075] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.781, 0.046, 0.042) [env.py: 1079] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.1 deg [env.py: 1082] +05/12 09:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m [env.py: 1086] +05/12 09:29:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:29:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:29:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:29:21 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 09:29:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 09:29:21 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] +05/12 09:29:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:29:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:29:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.769s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:29:23 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.660[m] 79.810[deg] [grasp_sample.py: 539] +05/12 09:29:25 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:29:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:29:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:29:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:29:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:29:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:29:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:29:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:29:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:29:26 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] +05/12 09:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050588m [env.py: 870] +05/12 09:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:29:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84504039 0.24336471 0.05058775] yaw=131.3deg [env.py: 1019] +05/12 09:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70845725 0.51910312 0.05058775] yaw=-170.7deg [env.py: 1019] +05/12 09:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70974243 0.65413051 0.05058775] yaw=-164.5deg [env.py: 1019] +05/12 09:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:29:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.4ms, total=97.4ms [env.py: 1075] +05/12 09:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.845, 0.243, 0.051) [env.py: 1079] +05/12 09:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 131.3 deg [env.py: 1082] +05/12 09:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/12 09:29:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:29:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:29:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:29:27 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 09:29:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377] +05/12 09:29:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:29:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:29:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:29:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.922s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:29:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.552[m] 91.871[deg] [grasp_sample.py: 539] +05/12 09:29:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:29:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:29:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:29:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:29:29 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:29:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:29:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:29:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:29:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:29:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.05s (batch: 3.88s, save: 12.18s) [pipeline.py: 300] +05/12 09:29:46 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.89s: + episode_total: mean=155.34s, total=466.01s, count=3, min=115330.3ms, max=196685.0ms + sensor_polling: mean=444.9ms, total=339.45s, count=763, min=370.7ms, max=959.5ms + physics_step: mean=27.6ms, total=21.08s, count=763, min=16.9ms, max=83.1ms + save_trajectories: mean=12.18s, total=12.18s, count=1, min=12177.4ms, max=12177.4ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3876.3ms, max=3876.3ms + task_sampling: mean=631.2ms, total=1.89s, count=3, min=598.6ms, max=687.7ms + task_specific_sample: mean=626.8ms, total=1.88s, count=3, min=595.0ms, max=682.4ms + scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.4ms, max=2.1ms + mj_forward_sync: mean=593.2us, total=1.8ms, count=3, min=0.4ms, max=0.8ms + policy_setup: mean=12.9us, total=0.0ms, 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] +05/12 09:29:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:29:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:29:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:29:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:29:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:29:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:29:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:29:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:29:47 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] +05/12 09:29:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:29:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095802m [env.py: 870] +05/12 09:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:29:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6202165 0.49053625 0.09580177] yaw=-168.9deg [env.py: 1019] +05/12 09:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87820657 0.73905817 0.09580177] yaw=-139.2deg [env.py: 1019] +05/12 09:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95054079 0.69444457 0.09580177] yaw=-199.9deg [env.py: 1019] +05/12 09:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:29:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.3ms [env.py: 1075] +05/12 09:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.620, 0.491, 0.096) [env.py: 1079] +05/12 09:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.9 deg [env.py: 1082] +05/12 09:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 09:29:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:29:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:29:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:29:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:29:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:29:48 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 09:29:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s [base_object_manipulation_planner_policy.py: 377] +05/12 09:29:48 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] +05/12 09:29:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:29:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:29:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.251s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:29:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.668[m] 93.142[deg] [grasp_sample.py: 539] +05/12 09:29:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:29:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:29:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:29:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:29:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:30:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:30:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:30:13 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] +05/12 09:30:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:30:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 66 non-colliding grasps [grasp_sample.py: 465] +05/12 09:30:16 INFO: [Worker 0] Feasibility-checked 66 grasps in 3.780s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:30:16 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.044[m] 11.477[deg] [grasp_sample.py: 539] +05/12 09:30:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:30:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:30:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:30:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:30:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:30:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:30:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:30:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:30:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:30:35 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 09:30:35 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=False episode_total=1.53s: + episode_total: mean=162.90s, total=325.80s, count=2, min=158022.4ms, max=167779.2ms + sensor_polling: mean=449.5ms, total=264.76s, count=589, min=386.2ms, max=1009.8ms + physics_step: mean=26.1ms, total=15.36s, count=589, min=19.6ms, max=59.8ms + task_sampling: mean=767.3ms, total=1.53s, count=2, min=610.0ms, max=924.5ms + task_specific_sample: mean=763.3ms, total=1.53s, count=2, min=606.6ms, max=919.9ms + scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.5ms, max=3.0ms + mj_forward_sync: mean=587.9us, total=1.2ms, count=2, min=0.5ms, max=0.7ms + policy_setup: mean=14.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:30:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:30:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:30:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:30:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:30:36 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] +05/12 09:30:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:30:36 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] +05/12 09:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014697m [env.py: 870] +05/12 09:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:30:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88616311 1.0869166 0.01469672] yaw=-170.3deg [env.py: 1019] +05/12 09:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76370569 0.1284964 0.01469672] yaw=133.5deg [env.py: 1019] +05/12 09:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93708796 0.66771018 0.01469672] yaw=-170.7deg [env.py: 1019] +05/12 09:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:30:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=363.1ms, total=363.1ms [env.py: 1075] +05/12 09:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.886, 1.087, 0.015) [env.py: 1079] +05/12 09:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.3 deg [env.py: 1082] +05/12 09:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/12 09:30:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:30:37 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 09:30:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/12 09:30:37 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] +05/12 09:30:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:30:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:30:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:30:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.916s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:30:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.637[m] 95.389[deg] [grasp_sample.py: 539] +05/12 09:30:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:30:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:30:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:30:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:31:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:31:06 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] +05/12 09:31:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:31:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:31:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.526s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:31:12 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.141[m] 5.041[deg] [grasp_sample.py: 539] +05/12 09:31:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:31:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:31:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:31:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:31:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:31:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:31:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:31:47 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:31:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:31:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:31:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:32:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:32:02 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] +05/12 09:32:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:32:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 09:32:03 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.644s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:32:03 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.351[deg] [grasp_sample.py: 539] +05/12 09:32:04 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:32:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:32:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:32:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:32:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:32:06 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] +05/12 09:32:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:32:06 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] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081631m [env.py: 870] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:32:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69183211 0.4171233 0.08163081] yaw=187.5deg [env.py: 1019] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80480461 0.12923113 0.08163081] yaw=130.4deg [env.py: 1019] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7329026 0.20011892 0.08163081] yaw=126.1deg [env.py: 1019] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:32:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=256.0ms, total=256.0ms [env.py: 1075] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.417, 0.082) [env.py: 1079] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.5 deg [env.py: 1082] +05/12 09:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/12 09:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:32:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:32:06 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 09:32:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 09:32:06 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] +05/12 09:32:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:32:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:32:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.051s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:32:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.628[m] 100.328[deg] [grasp_sample.py: 539] +05/12 09:32:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:32:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:32:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:32:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:32:14 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:32:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:32:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:32:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:32:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:32:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.55s (batch: 4.12s, save: 11.43s) [pipeline.py: 300] +05/12 09:32:30 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.48s: + episode_total: mean=168.54s, total=337.08s, count=2, min=137949.8ms, max=199131.6ms + sensor_polling: mean=476.1ms, total=251.88s, count=529, min=387.4ms, max=987.3ms + physics_step: mean=28.8ms, total=15.24s, count=529, min=17.0ms, max=53.3ms + save_trajectories: mean=11.43s, total=11.43s, count=1, min=11433.4ms, max=11433.4ms + save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4119.0ms, max=4119.0ms + task_sampling: mean=739.4ms, total=1.48s, count=2, min=579.5ms, max=899.4ms + task_specific_sample: mean=735.1ms, total=1.47s, count=2, min=574.4ms, max=895.9ms + scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=1.4ms, max=3.5ms + mj_forward_sync: mean=524.5us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=16.1us, 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] +05/12 09:32:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:32:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:32:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:32:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:32:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:32:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:32:31 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] +05/12 09:32:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:32:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084465m [env.py: 870] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:32:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65576864 0.71274821 0.08446472] yaw=-168.3deg [env.py: 1019] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:32:31 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85343704 0.76119775 0.08446472] yaw=-146.7deg [env.py: 1019] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91558969 0.60336124 0.08446472] yaw=-157.7deg [env.py: 1019] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:32:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.7ms, total=213.8ms [env.py: 1075] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.656, 0.713, 0.084) [env.py: 1079] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg [env.py: 1082] +05/12 09:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/12 09:32:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:32:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:32:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:32:32 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 09:32:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 09:32:32 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] +05/12 09:32:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:32:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:32:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.135s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:32:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.610[m] 87.063[deg] [grasp_sample.py: 539] +05/12 09:32:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:32:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:32:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:32:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:32:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:33:01 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:33:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:33:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:33:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:33:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:33:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:33:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:33:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:33:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:33:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:33:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:33:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:33:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:33:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:33:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 09:33:13 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.714s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:33:13 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.293[deg] [grasp_sample.py: 539] +05/12 09:33:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:33:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:33:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:33:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:33:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:33:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:33:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.29s (batch: 4.40s, save: 11.88s) [pipeline.py: 300] +05/12 09:33:18 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.46s: + episode_total: mean=210.68s, total=210.68s, count=1, min=210683.3ms, max=210683.3ms + sensor_polling: mean=436.6ms, total=130.99s, count=300, min=376.2ms, max=969.0ms + save_trajectories: mean=11.88s, total=11.88s, count=1, min=11883.0ms, max=11883.0ms + physics_step: mean=26.0ms, total=7.81s, count=300, min=19.8ms, max=43.8ms + save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4403.2ms, max=4403.2ms + task_sampling: mean=455.3ms, total=455.3ms, count=1, min=455.3ms, max=455.3ms + task_specific_sample: mean=451.3ms, total=451.3ms, count=1, min=451.3ms, max=451.3ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=453.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:33:19 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:33:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:33:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:33:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:33:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:33:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:33:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:33:19 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] +05/12 09:33:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:33:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077002m [env.py: 870] +05/12 09:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:33:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78037653 0.60330768 0.07700211] yaw=-174.1deg [env.py: 1019] +05/12 09:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84691917 0.16779827 0.07700211] yaw=181.9deg [env.py: 1019] +05/12 09:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94687954 0.88188056 0.07700211] yaw=-158.9deg [env.py: 1019] +05/12 09:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:33:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=123.2ms, total=123.3ms [env.py: 1075] +05/12 09:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.603, 0.077) [env.py: 1079] +05/12 09:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.1 deg [env.py: 1082] +05/12 09:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/12 09:33:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:33:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:33:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:33:20 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 09:33:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 09:33:20 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] +05/12 09:33:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:33:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:33:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:33:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.863s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:33:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.467[m] 88.787[deg] [grasp_sample.py: 539] +05/12 09:33:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:33:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:33:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:33:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:33:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:33:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:33:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:33:48 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:33:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:33:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:34:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:34:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:34:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:34:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 18.03s (batch: 4.68s, save: 13.34s) [pipeline.py: 300] +05/12 09:34:07 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.69s: + episode_total: mean=210.30s, total=210.30s, count=1, min=210303.1ms, max=210303.1ms + sensor_polling: mean=446.1ms, total=133.84s, count=300, min=391.0ms, max=988.8ms + save_trajectories: mean=13.34s, total=13.34s, count=1, min=13343.8ms, max=13343.8ms + physics_step: mean=25.7ms, total=7.72s, count=300, min=21.3ms, max=55.4ms + save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4684.1ms, max=4684.1ms + task_sampling: mean=687.2ms, total=687.2ms, count=1, min=687.2ms, max=687.2ms + task_specific_sample: mean=682.7ms, total=682.7ms, count=1, min=682.7ms, max=682.7ms + scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + mj_forward_sync: mean=459.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:34:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:34:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:34:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:34:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:34:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:34:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:34:08 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] +05/12 09:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081462m [env.py: 870] +05/12 09:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:34:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84863382 0.81726051 0.08146165] yaw=-189.4deg [env.py: 1019] +05/12 09:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81853153 0.44952518 0.08146165] yaw=189.5deg [env.py: 1019] +05/12 09:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67863548 0.17373751 0.08146165] yaw=133.0deg [env.py: 1019] +05/12 09:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:34:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=196.2ms, total=196.2ms [env.py: 1075] +05/12 09:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.849, 0.817, 0.081) [env.py: 1079] +05/12 09:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.4 deg [env.py: 1082] +05/12 09:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/12 09:34:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:34:09 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 09:34:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/12 09:34:09 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] +05/12 09:34:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:34:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:34:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.111s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:34:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.545[m] 80.751[deg] [grasp_sample.py: 539] +05/12 09:34:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:34:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:34:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:34:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:34:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:34:38 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:34:58 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:35:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:35:07 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:35:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:35:07 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:35:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:35:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:35:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:35:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:35:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.58s (batch: 4.37s, save: 11.21s) [pipeline.py: 300] +05/12 09:35:23 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=2.01s: + episode_total: mean=102.85s, total=514.26s, count=5, min=220.2ms, max=197411.9ms + sensor_polling: mean=467.0ms, total=393.21s, count=842, min=393.1ms, max=920.7ms + physics_step: mean=27.5ms, total=23.18s, count=842, min=17.1ms, max=57.1ms + save_trajectories: mean=11.21s, total=11.21s, count=1, min=11206.6ms, max=11206.6ms + save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4373.7ms, max=4373.7ms + task_specific_sample: mean=439.5ms, total=2.20s, count=5, min=208.9ms, max=618.5ms + task_sampling: mean=502.1ms, total=2.01s, count=4, min=385.6ms, max=623.0ms + task_sampling_failed: mean=220.2ms, total=220.2ms, count=1, min=220.2ms, max=220.2ms + scene_randomize: mean=2.0ms, total=9.9ms, count=5, min=1.4ms, max=2.6ms + mj_forward_sync: mean=521.4us, total=2.6ms, count=5, min=0.5ms, max=0.8ms + policy_setup: mean=14.4us, total=0.1ms, count=4, 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] +05/12 09:35:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:35:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:35:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:35:25 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] +05/12 09:35:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:35:25 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] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059728m [env.py: 870] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:35:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94322423 0.73339325 0.05972785] yaw=-163.5deg [env.py: 1019] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77684964 0.61581412 0.05972785] yaw=-206.1deg [env.py: 1019] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73313187 0.79450327 0.05972785] yaw=-127.9deg [env.py: 1019] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:35:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.1ms, total=112.1ms [env.py: 1075] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 0.733, 0.060) [env.py: 1079] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg [env.py: 1082] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m [env.py: 1086] +05/12 09:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:35:25 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 09:35:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/12 09:35:25 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] +05/12 09:35:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:35:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:35:26 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:35:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:35:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:35:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.724s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:35:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.361[m] 87.077[deg] [grasp_sample.py: 539] +05/12 09:35:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:35:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:35:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:35:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:35:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:35:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.80s (batch: 4.43s, save: 12.37s) [pipeline.py: 300] +05/12 09:35:43 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.56s: + episode_total: mean=192.12s, total=192.12s, count=1, min=192119.6ms, max=192119.6ms + sensor_polling: mean=443.1ms, total=132.92s, count=300, min=387.8ms, max=992.4ms + save_trajectories: mean=12.37s, total=12.37s, count=1, min=12373.2ms, max=12373.2ms + physics_step: mean=25.6ms, total=7.67s, count=300, min=21.7ms, max=35.5ms + save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4428.4ms, max=4428.4ms + task_sampling: mean=556.0ms, total=556.0ms, count=1, min=556.0ms, max=556.0ms + task_specific_sample: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=648.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=16.3us, 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] +05/12 09:35:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:35:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:35:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:35:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:35:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:35:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:35:45 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] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047962m [env.py: 870] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:35:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.12205447 1.12906628 0.04796246] yaw=-103.7deg [env.py: 1019] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66500406 0.15715974 0.04796246] yaw=182.6deg [env.py: 1019] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12811247 1.19611206 0.04796246] yaw=-122.4deg [env.py: 1019] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:35:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=540.3ms, total=540.4ms [env.py: 1075] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.122, 1.129, 0.048) [env.py: 1079] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -103.7 deg [env.py: 1082] +05/12 09:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/12 09:35:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:35:46 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 09:35:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 09:35:46 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] +05/12 09:35:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:35:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:35:46 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:35:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.723s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:35:53 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.512[m] 91.653[deg] [grasp_sample.py: 539] +05/12 09:35:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:35:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:35:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:36:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:36:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:36:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:36:16 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:36:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:36:16 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:36:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:36:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:36:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 17.42s (batch: 4.58s, save: 12.84s) [pipeline.py: 300] +05/12 09:36:34 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.43s: + episode_total: mean=194.59s, total=194.59s, count=1, min=194589.8ms, max=194589.8ms + sensor_polling: mean=439.7ms, total=131.92s, count=300, min=374.7ms, max=1058.9ms + save_trajectories: mean=12.84s, total=12.84s, count=1, min=12841.1ms, max=12841.1ms + physics_step: mean=28.2ms, total=8.45s, count=300, min=21.6ms, max=44.7ms + save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4581.0ms, max=4581.0ms + task_sampling: mean=434.6ms, total=434.6ms, count=1, min=434.6ms, max=434.6ms + task_specific_sample: mean=430.6ms, total=430.6ms, count=1, min=430.6ms, max=430.6ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=453.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:36:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:36:35 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] +05/12 09:36:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:36:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084347m [env.py: 870] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:36:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96000435 0.12144126 0.08434682] yaw=179.5deg [env.py: 1019] +05/12 09:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98633388 1.1766792 0.08434682] yaw=-140.6deg [env.py: 1019] +05/12 09:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9425684 0.52151989 0.08434682] yaw=-169.0deg [env.py: 1019] +05/12 09:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:36:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=317.7ms, total=317.7ms [env.py: 1075] +05/12 09:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.960, 0.121, 0.084) [env.py: 1079] +05/12 09:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.5 deg [env.py: 1082] +05/12 09:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m [env.py: 1086] +05/12 09:36:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:36:36 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 09:36:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/12 09:36:36 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] +05/12 09:36:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:36:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:36:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.214s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:36:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.486[m] 97.546[deg] [grasp_sample.py: 539] +05/12 09:36:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:36:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:36:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:36:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:36:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:36:42 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:36:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:36:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:37:11 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:37:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:37:11 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:37:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:37:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:37:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:37:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.74s (batch: 3.78s, save: 11.95s) [pipeline.py: 300] +05/12 09:37:28 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.55s: + episode_total: mean=199.41s, total=199.41s, count=1, min=199406.4ms, max=199406.4ms + sensor_polling: mean=465.2ms, total=139.56s, count=300, min=393.8ms, max=1042.7ms + save_trajectories: mean=11.95s, total=11.95s, count=1, min=11953.5ms, max=11953.5ms + physics_step: mean=29.3ms, total=8.78s, count=300, min=21.6ms, max=97.2ms + save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3784.9ms, max=3784.9ms + task_sampling: mean=552.1ms, total=552.1ms, count=1, min=552.1ms, max=552.1ms + task_specific_sample: mean=546.4ms, total=546.4ms, count=1, min=546.4ms, max=546.4ms + scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + mj_forward_sync: mean=784.1us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=33.8us, 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] +05/12 09:37:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:37:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:37:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:37:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:37:29 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] +05/12 09:37:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:37:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069286m [env.py: 870] +05/12 09:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:37:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12193621 1.02349444 0.06928632] yaw=-130.6deg [env.py: 1019] +05/12 09:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94309485 0.48627338 0.06928632] yaw=-185.7deg [env.py: 1019] +05/12 09:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81288639 1.08792227 0.06928632] yaw=-165.1deg [env.py: 1019] +05/12 09:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:37:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=128.7ms, total=128.7ms [env.py: 1075] +05/12 09:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.122, 1.023, 0.069) [env.py: 1079] +05/12 09:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.6 deg [env.py: 1082] +05/12 09:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m [env.py: 1086] +05/12 09:37:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:37:30 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 09:37:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/12 09:37:30 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] +05/12 09:37:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:37:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.104s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:37:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.151s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:37:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.403[m] 94.102[deg] [grasp_sample.py: 539] +05/12 09:37:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:37:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:37:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:37:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:37:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:37:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:37:58 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:38:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:38:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:38:19 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] +05/12 09:38:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:38:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 09:38:22 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.746s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:38:22 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.056[m] 10.019[deg] [grasp_sample.py: 539] +05/12 09:38:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:38:23 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:38:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:38:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:38:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:38:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:38:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:38:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:38:25 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] +05/12 09:38:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:38:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042119m [env.py: 870] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:38:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.08054941 1.16327037 0.0421191 ] yaw=-169.0deg [env.py: 1019] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67084246 0.61943975 0.0421191 ] yaw=-152.4deg [env.py: 1019] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8540505 0.22734488 0.0421191 ] yaw=143.5deg [env.py: 1019] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:38:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=368.0ms, total=368.1ms [env.py: 1075] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.081, 1.163, 0.042) [env.py: 1079] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg [env.py: 1082] +05/12 09:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/12 09:38:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:38:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:38:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:38:25 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 09:38:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 09:38:25 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] +05/12 09:38:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:38:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:38:25 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:38:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:38:25 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/12 09:38:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.944s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:38:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.673[m] 94.527[deg] [grasp_sample.py: 539] +05/12 09:38:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:38:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:38:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:38:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:38:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:38:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:38:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.40s (batch: 3.89s, save: 11.51s) [pipeline.py: 300] +05/12 09:38:42 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.47s: + episode_total: mean=197.00s, total=197.00s, count=1, min=197001.3ms, max=197001.3ms + sensor_polling: mean=477.4ms, total=139.87s, count=293, min=398.9ms, max=967.6ms + save_trajectories: mean=11.51s, total=11.51s, count=1, min=11508.7ms, max=11508.7ms + physics_step: mean=29.2ms, total=8.54s, count=293, min=21.8ms, max=61.4ms + save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3889.9ms, max=3889.9ms + task_sampling: mean=474.6ms, total=474.6ms, count=1, min=474.6ms, max=474.6ms + task_specific_sample: mean=470.6ms, total=470.6ms, count=1, min=470.6ms, max=470.6ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=456.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:38:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:38:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:38:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:38:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:38:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:38:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:38:43 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] +05/12 09:38:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:38:43 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] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014953m [env.py: 870] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:38:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76833662 0.98206235 0.01495262] yaw=-120.0deg [env.py: 1019] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86657084 0.71956218 0.01495262] yaw=-161.8deg [env.py: 1019] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.62763407 0.57071003 0.01495262] yaw=-154.5deg [env.py: 1019] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:38:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=233.3ms, total=233.3ms [env.py: 1075] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.982, 0.015) [env.py: 1079] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.0 deg [env.py: 1082] +05/12 09:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 09:38:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:38:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:38:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:38:43 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 09:38:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/12 09:38:44 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] +05/12 09:38:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:38:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:38:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:38:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:38:46 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] +05/12 09:38:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:38:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 09:38:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.774s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:38:46 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.713[m] 85.585[deg] [grasp_sample.py: 539] +05/12 09:38:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:38:47 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.827s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:38:47 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.392[deg] [grasp_sample.py: 539] +05/12 09:38:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:38:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:38:48 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:38:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:38:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:38:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:38:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:38:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:38:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:38:50 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] +05/12 09:38:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:38:50 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] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001931m [env.py: 870] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:38:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75494852 0.52857866 0.00193058] yaw=-176.0deg [env.py: 1019] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97698103 0.70975311 0.00193058] yaw=-125.5deg [env.py: 1019] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85884977 0.75607509 0.00193058] yaw=-173.0deg [env.py: 1019] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:38:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=141.4ms, total=141.5ms [env.py: 1075] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.755, 0.529, 0.002) [env.py: 1079] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.0 deg [env.py: 1082] +05/12 09:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/12 09:38:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:38:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:38:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:38:50 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 09:38:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 09:38:50 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] +05/12 09:38:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:38:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:38:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.850s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:38:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.504[m] 91.950[deg] [grasp_sample.py: 539] +05/12 09:38:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:38:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:38:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:38:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:39:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:39:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:39:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:39:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:39:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:39:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:39:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:39:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:39:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:39:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:39:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:39:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:40:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:40:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:40:03 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] +05/12 09:40:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:40:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 09:40:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.738s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:40:05 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.481[deg] [grasp_sample.py: 539] +05/12 09:40:07 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:40:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:40:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:40:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:40:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:40:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:40:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:40:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:40:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:40:08 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] +05/12 09:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082791m [env.py: 870] +05/12 09:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:40:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84871105 0.75321405 0.08279081] yaw=-171.7deg [env.py: 1019] +05/12 09:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8181728 0.68282806 0.08279081] yaw=-173.6deg [env.py: 1019] +05/12 09:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.829473 0.52247442 0.08279081] yaw=-154.4deg [env.py: 1019] +05/12 09:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:40:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.7ms, total=197.7ms [env.py: 1075] +05/12 09:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.849, 0.753, 0.083) [env.py: 1079] +05/12 09:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.7 deg [env.py: 1082] +05/12 09:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/12 09:40:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:40:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:40:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:40:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:40:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:40:09 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 09:40:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 09:40:09 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] +05/12 09:40:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:40:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:40:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:40:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.804s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:40:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.482[m] 90.399[deg] [grasp_sample.py: 539] +05/12 09:40:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:40:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:40:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:40:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:40:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:40:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:40:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:40:38 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] +05/12 09:40:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:40:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 09:40:41 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.739s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:40:41 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.439[deg] [grasp_sample.py: 539] +05/12 09:40:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:40:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:40:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:40:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:41:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:41:02 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 09:41:02 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=1.48s: + episode_total: mean=157.68s, total=315.36s, count=2, min=157288.5ms, max=158069.8ms + sensor_polling: mean=442.7ms, total=256.33s, count=579, min=384.0ms, max=996.8ms + physics_step: mean=26.0ms, total=15.03s, count=579, min=16.9ms, max=67.7ms + task_sampling: mean=738.1ms, total=1.48s, count=2, min=634.6ms, max=841.5ms + task_specific_sample: mean=733.6ms, total=1.47s, count=2, min=630.9ms, max=836.4ms + scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=1.6ms, max=3.4ms + mj_forward_sync: mean=612.5us, total=1.2ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=13.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:41:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:41:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:41:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:41:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:41:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:41:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:41:04 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] +05/12 09:41:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:41:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092008m [env.py: 870] +05/12 09:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:41:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72228028 0.65918178 0.09200768] yaw=-164.8deg [env.py: 1019] +05/12 09:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.72901578 0.02708851 0.09200768] yaw=118.8deg [env.py: 1019] +05/12 09:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:41:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=227.3ms, total=227.4ms [env.py: 1075] +05/12 09:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.722, 0.659, 0.092) [env.py: 1079] +05/12 09:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.8 deg [env.py: 1082] +05/12 09:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m [env.py: 1086] +05/12 09:41:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:41:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:41:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:41:04 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 09:41:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/12 09:41:04 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] +05/12 09:41:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:41:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.116s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:41:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.000s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:41:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.521[m] 82.035[deg] [grasp_sample.py: 539] +05/12 09:41:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:41:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:41:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:41:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:41:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:41:13 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:41:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:41:20 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:41:44 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:41:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:41:44 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:41:47 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:41:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:41:47 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:41:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:41:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:41:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:41:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.15s (batch: 4.54s, save: 10.61s) [pipeline.py: 300] +05/12 09:42:00 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.08s: + episode_total: mean=161.42s, total=322.85s, count=2, min=132838.2ms, max=190007.1ms + sensor_polling: mean=437.0ms, total=228.99s, count=524, min=371.9ms, max=1040.0ms + physics_step: mean=27.0ms, total=14.12s, count=524, min=17.0ms, max=62.4ms + save_trajectories: mean=10.61s, total=10.61s, count=1, min=10611.1ms, max=10611.1ms + save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4542.2ms, max=4542.2ms + task_sampling: mean=540.7ms, total=1.08s, count=2, min=417.5ms, max=663.8ms + task_specific_sample: mean=536.7ms, total=1.07s, count=2, min=413.7ms, max=659.7ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.7ms, max=2.6ms + mj_forward_sync: mean=536.2us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:42:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:42:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:42:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:42:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:42:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:42:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:42:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:42:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:42:01 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] +05/12 09:42:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:42:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042313m [env.py: 870] +05/12 09:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:42:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81489116 0.76145876 0.04231324] yaw=-165.7deg [env.py: 1019] +05/12 09:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79510919 0.79111748 0.04231324] yaw=-171.2deg [env.py: 1019] +05/12 09:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89387092 0.69624768 0.04231324] yaw=-178.2deg [env.py: 1019] +05/12 09:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:42:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.5ms, total=170.5ms [env.py: 1075] +05/12 09:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.761, 0.042) [env.py: 1079] +05/12 09:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.7 deg [env.py: 1082] +05/12 09:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/12 09:42:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:42:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:42:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:42:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:42:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:42:02 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 09:42:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:42:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:42:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.38s (batch: 4.18s, save: 11.20s) [pipeline.py: 300] +05/12 09:42:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 09:42:02 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] +05/12 09:42:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:42:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:42:03 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.55s: + episode_total: mean=199.90s, total=199.90s, count=1, min=199895.3ms, max=199895.3ms + sensor_polling: mean=471.3ms, total=141.39s, count=300, min=394.2ms, max=939.6ms + save_trajectories: mean=11.20s, total=11.20s, count=1, min=11198.8ms, max=11198.8ms + physics_step: mean=29.2ms, total=8.77s, count=300, min=16.7ms, max=49.9ms + save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4179.4ms, max=4179.4ms + task_sampling: mean=549.4ms, total=549.4ms, count=1, min=549.4ms, max=549.4ms + task_specific_sample: mean=545.2ms, total=545.2ms, count=1, min=545.2ms, max=545.2ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=461.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:42:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.853s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:42:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.486[m] 80.581[deg] [grasp_sample.py: 539] +05/12 09:42:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:42:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:42:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:42:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:42:04 WARNING: [Worker 0] No trajectory data to save for chunk_010 [pipeline.py: 234] +05/12 09:42:04 WARNING: [Worker 0] No trajectory data to save for chunk_010 [pipeline.py: 234] +05/12 09:42:04 INFO: [Worker 0] Worker 0 completed house 1: 11/11 successful episodes [pipeline.py: 1323] +05/12 09:42:04 INFO: [Worker 0] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=5157.02s + House averages: + episode_total: mean=158.91s, total=2860.32s, count=18, min=220.2ms, max=211326.9ms + sensor_polling: mean=456.7ms, total=1972.22s, count=4318, min=386.6ms, max=971.3ms + save_trajectories: mean=11.59s, total=127.44s, count=11, min=10976.8ms, max=12149.1ms + physics_step: mean=27.0ms, total=116.64s, count=4318, min=16.0ms, max=155.2ms + save_batch_prep: mean=4.35s, total=47.81s, count=11, min=3578.0ms, max=5433.0ms + task_sampling: mean=771.2ms, total=13.11s, count=17, min=385.6ms, max=5194.8ms + task_specific_sample: mean=477.3ms, total=8.59s, count=18, min=208.9ms, max=695.3ms + scene_load: mean=4.66s, total=4.66s, count=1, min=4655.4ms, max=4655.4ms + scene_env_create: mean=3.23s, total=3.23s, count=1, min=3229.7ms, max=3229.7ms + scene_compile: mean=1.21s, total=1.21s, count=1, min=1207.9ms, max=1207.9ms + compile_mujoco: mean=828.4ms, total=828.4ms, count=1, min=828.4ms, max=828.4ms + compile_xml_load: mean=275.8ms, total=275.8ms, count=1, min=275.8ms, max=275.8ms + task_sampling_failed: mean=220.2ms, total=220.2ms, count=1, min=220.2ms, max=220.2ms + scene_init: mean=161.5ms, total=161.5ms, count=1, min=161.5ms, max=161.5ms + scene_asset_install: mean=55.8ms, total=55.8ms, count=1, min=55.8ms, max=55.8ms + compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms + compile_aux_policy_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + scene_randomize: mean=2.2ms, total=40.1ms, count=18, min=1.3ms, max=3.2ms + asset_install_grasps: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms + compile_robot_add: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms + asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms + mj_forward_sync: mean=503.8us, total=9.1ms, count=18, min=0.4ms, max=0.8ms + asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms + policy_setup: mean=20.9us, total=0.4ms, count=17, 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] +05/12 09:42:04 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 09:42:04 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5157.02s + Worker averages: + episode_total: mean=158.91s, total=2860.32s, count=18, min=220.2ms, max=211326.9ms + sensor_polling: mean=456.7ms, total=1972.22s, count=4318, min=386.6ms, max=971.3ms + save_trajectories: mean=11.59s, total=127.44s, count=11, min=10976.8ms, max=12149.1ms + physics_step: mean=27.0ms, total=116.64s, count=4318, min=16.0ms, max=155.2ms + save_batch_prep: mean=4.35s, total=47.81s, count=11, min=3578.0ms, max=5433.0ms + task_sampling: mean=771.2ms, total=13.11s, count=17, min=385.6ms, max=5194.8ms + task_specific_sample: mean=477.3ms, total=8.59s, count=18, min=208.9ms, max=695.3ms + scene_load: mean=4.66s, total=4.66s, count=1, min=4655.4ms, max=4655.4ms + scene_env_create: mean=3.23s, total=3.23s, count=1, min=3229.7ms, max=3229.7ms + scene_compile: mean=1.21s, total=1.21s, count=1, min=1207.9ms, max=1207.9ms + compile_mujoco: mean=828.4ms, total=828.4ms, count=1, min=828.4ms, max=828.4ms + compile_xml_load: mean=275.8ms, total=275.8ms, count=1, min=275.8ms, max=275.8ms + task_sampling_failed: mean=220.2ms, total=220.2ms, count=1, min=220.2ms, max=220.2ms + scene_init: mean=161.5ms, total=161.5ms, count=1, min=161.5ms, max=161.5ms + scene_asset_install: mean=55.8ms, total=55.8ms, count=1, min=55.8ms, max=55.8ms + compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms + compile_aux_policy_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + scene_randomize: mean=2.2ms, total=40.1ms, count=18, min=1.3ms, max=3.2ms + asset_install_grasps: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms + compile_robot_add: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms + asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms + mj_forward_sync: mean=503.8us, total=9.1ms, count=18, min=0.4ms, max=0.8ms + asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms + policy_setup: mean=20.9us, total=0.4ms, count=17, 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] +05/12 09:42:07 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 09:42:07 INFO: Success count: 11, Total count: 11 [pipeline.py: 1491] +05/12 09:42:07 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/12 09:42:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:42:41 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:42:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:42:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:42:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:43:10 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:43:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:43:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:43:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:43:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:43:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.30s (batch: 4.27s, save: 11.03s) [pipeline.py: 300] +05/12 09:43:26 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.99s: + episode_total: mean=177.81s, total=355.61s, count=2, min=157539.4ms, max=198071.8ms + sensor_polling: mean=457.2ms, total=267.02s, count=584, min=390.1ms, max=1013.5ms + physics_step: mean=27.1ms, total=15.82s, count=584, min=17.3ms, max=75.4ms + save_trajectories: mean=11.03s, total=11.03s, count=1, min=11030.5ms, max=11030.5ms + save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4268.8ms, max=4268.8ms + task_sampling: mean=494.2ms, total=988.5ms, count=2, min=486.5ms, max=502.0ms + task_specific_sample: mean=490.1ms, total=980.2ms, count=2, min=481.7ms, max=498.4ms + scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.3ms, max=3.2ms + mj_forward_sync: mean=532.2us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=14.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:43:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:43:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:43:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:43:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:43:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:43:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:43:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:43:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:43:28 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] +05/12 09:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067417m [env.py: 870] +05/12 09:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:43:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87475937 1.00363453 0.06741708] yaw=-126.8deg [env.py: 1019] +05/12 09:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84599645 0.85350231 0.06741708] yaw=-120.5deg [env.py: 1019] +05/12 09:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72667513 0.01820736 0.06741708] yaw=192.6deg [env.py: 1019] +05/12 09:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:43:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.5ms, total=108.5ms [env.py: 1075] +05/12 09:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.875, 1.004, 0.067) [env.py: 1079] +05/12 09:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.8 deg [env.py: 1082] +05/12 09:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 09:43:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:43:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:43:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:43:28 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 09:43:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 09:43:28 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] +05/12 09:43:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:43:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:43:30 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:43:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.777s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:43:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.559[m] 85.090[deg] [grasp_sample.py: 539] +05/12 09:43:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:43:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:43:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:43:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:44:02 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:44:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:44:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:44:13 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:44:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:44:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:44:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 18.94s (batch: 7.96s, save: 10.98s) [pipeline.py: 300] +05/12 09:44:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:44:21 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.56s: + episode_total: mean=197.86s, total=197.86s, count=1, min=197856.7ms, max=197856.7ms + sensor_polling: mean=448.4ms, total=134.52s, count=300, min=391.1ms, max=945.7ms + save_trajectories: mean=10.98s, total=10.98s, count=1, min=10980.6ms, max=10980.6ms + save_batch_prep: mean=7.96s, total=7.96s, count=1, min=7964.2ms, max=7964.2ms + physics_step: mean=24.2ms, total=7.27s, count=300, min=21.6ms, max=34.1ms + task_sampling: mean=561.6ms, total=561.6ms, count=1, min=561.6ms, max=561.6ms + task_specific_sample: mean=557.8ms, total=557.8ms, count=1, min=557.8ms, max=557.8ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=445.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:44:24 WARNING: [Worker 0] No trajectory data to save for chunk_010 [pipeline.py: 234] +05/12 09:44:24 WARNING: [Worker 0] No trajectory data to save for chunk_010 [pipeline.py: 234] +05/12 09:44:24 INFO: [Worker 0] Worker 0 completed house 1: 12/14 successful episodes [pipeline.py: 1323] +05/12 09:44:24 INFO: [Worker 0] [PROFILE] House 1 complete: 12/14 successful, 14 episodes, total_time=5459.98s + House averages: + episode_total: mean=166.43s, total=2995.77s, count=18, min=5151.9ms, max=221662.8ms + sensor_polling: mean=450.2ms, total=2108.71s, count=4684, min=384.0ms, max=1039.9ms + save_trajectories: mean=11.91s, total=142.88s, count=12, min=10930.7ms, max=13434.8ms + physics_step: mean=26.6ms, total=124.51s, count=4684, min=16.7ms, max=78.3ms + save_batch_prep: mean=4.54s, total=54.42s, count=12, min=3587.5ms, max=7964.2ms + task_sampling: mean=810.8ms, total=14.59s, count=18, min=441.4ms, max=3863.9ms + task_specific_sample: mean=618.9ms, total=11.14s, count=18, min=437.2ms, max=895.9ms + scene_load: mean=3.37s, total=3.37s, count=1, min=3371.0ms, max=3371.0ms + scene_env_create: mean=2.14s, total=2.14s, count=1, min=2136.3ms, max=2136.3ms + scene_compile: mean=1.05s, total=1.05s, count=1, min=1046.5ms, max=1046.5ms + compile_mujoco: mean=756.5ms, total=756.5ms, count=1, min=756.5ms, max=756.5ms + compile_xml_load: mean=210.2ms, total=210.2ms, count=1, min=210.2ms, max=210.2ms + scene_init: mean=115.4ms, total=115.4ms, count=1, min=115.4ms, max=115.4ms + scene_asset_install: mean=72.3ms, total=72.3ms, count=1, min=72.3ms, max=72.3ms + compile_aux_objects: mean=55.4ms, total=55.4ms, count=1, min=55.4ms, max=55.4ms + compile_aux_policy_objects: mean=55.4ms, total=55.4ms, count=1, min=55.4ms, max=55.4ms + scene_randomize: mean=2.6ms, total=46.8ms, count=18, min=1.2ms, max=5.3ms + asset_install_grasps: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms + asset_install_scene: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms + asset_install_objects: mean=12.7ms, total=12.7ms, count=1, min=12.7ms, max=12.7ms + compile_robot_add: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms + mj_forward_sync: mean=532.4us, total=9.6ms, count=18, min=0.4ms, max=0.8ms + policy_setup: mean=22.3us, 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] +05/12 09:44:24 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 09:44:24 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5459.98s + Worker averages: + episode_total: mean=166.43s, total=2995.77s, count=18, min=5151.9ms, max=221662.8ms + sensor_polling: mean=450.2ms, total=2108.71s, count=4684, min=384.0ms, max=1039.9ms + save_trajectories: mean=11.91s, total=142.88s, count=12, min=10930.7ms, max=13434.8ms + physics_step: mean=26.6ms, total=124.51s, count=4684, min=16.7ms, max=78.3ms + save_batch_prep: mean=4.54s, total=54.42s, count=12, min=3587.5ms, max=7964.2ms + task_sampling: mean=810.8ms, total=14.59s, count=18, min=441.4ms, max=3863.9ms + task_specific_sample: mean=618.9ms, total=11.14s, count=18, min=437.2ms, max=895.9ms + scene_load: mean=3.37s, total=3.37s, count=1, min=3371.0ms, max=3371.0ms + scene_env_create: mean=2.14s, total=2.14s, count=1, min=2136.3ms, max=2136.3ms + scene_compile: mean=1.05s, total=1.05s, count=1, min=1046.5ms, max=1046.5ms + compile_mujoco: mean=756.5ms, total=756.5ms, count=1, min=756.5ms, max=756.5ms + compile_xml_load: mean=210.2ms, total=210.2ms, count=1, min=210.2ms, max=210.2ms + scene_init: mean=115.4ms, total=115.4ms, count=1, min=115.4ms, max=115.4ms + scene_asset_install: mean=72.3ms, total=72.3ms, count=1, min=72.3ms, max=72.3ms + compile_aux_objects: mean=55.4ms, total=55.4ms, count=1, min=55.4ms, max=55.4ms + compile_aux_policy_objects: mean=55.4ms, total=55.4ms, count=1, min=55.4ms, max=55.4ms + scene_randomize: mean=2.6ms, total=46.8ms, count=18, min=1.2ms, max=5.3ms + asset_install_grasps: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms + asset_install_scene: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms + asset_install_objects: mean=12.7ms, total=12.7ms, count=1, min=12.7ms, max=12.7ms + compile_robot_add: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms + mj_forward_sync: mean=532.4us, total=9.6ms, count=18, min=0.4ms, max=0.8ms + policy_setup: mean=22.3us, 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] +05/12 09:44:28 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 09:44:28 INFO: Success count: 12, Total count: 14 [pipeline.py: 1491] +05/12 09:44:28 INFO: Success rate: 85.71% [pipeline.py: 1492] +05/12 09:44:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:44:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:44:42 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:44:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:44:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:44:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:44:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:44:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 14.72s (batch: 4.15s, save: 10.57s) [pipeline.py: 300] +05/12 09:44:57 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.48s: + episode_total: mean=175.95s, total=175.95s, count=1, min=175947.4ms, max=175947.4ms + sensor_polling: mean=400.3ms, total=120.08s, count=300, min=371.5ms, max=949.5ms + save_trajectories: mean=10.57s, total=10.57s, count=1, min=10567.1ms, max=10567.1ms + physics_step: mean=23.3ms, total=6.98s, count=300, min=17.1ms, max=33.3ms + save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4150.9ms, max=4150.9ms + task_sampling: mean=478.0ms, total=478.0ms, count=1, min=478.0ms, max=478.0ms + task_specific_sample: mean=473.7ms, total=473.7ms, count=1, min=473.7ms, max=473.7ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=463.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:44:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:44:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:44:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:44:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:44:59 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] +05/12 09:44:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:44:59 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] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081575m [env.py: 870] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:44:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86313379 0.44127881 0.08157486] yaw=209.0deg [env.py: 1019] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64605778 0.53426963 0.08157486] yaw=-214.8deg [env.py: 1019] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.04452648 1.18569431 0.08157486] yaw=-144.6deg [env.py: 1019] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:44:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=336.9ms, total=336.9ms [env.py: 1075] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.863, 0.441, 0.082) [env.py: 1079] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 209.0 deg [env.py: 1082] +05/12 09:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/12 09:44:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:44:59 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 09:44:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 09:44:59 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] +05/12 09:44:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:45:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:45:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.334s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:45:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.470[m] 87.050[deg] [grasp_sample.py: 539] +05/12 09:45:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:45:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:45:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:45:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:45:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:45:45 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:45:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:45:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:46:13 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:46:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:46:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:46:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:46:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:46:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 14.50s (batch: 4.00s, save: 10.51s) [pipeline.py: 300] +05/12 09:46:28 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.41s: + episode_total: mean=180.76s, total=180.76s, count=1, min=180757.2ms, max=180757.2ms + sensor_polling: mean=414.1ms, total=124.23s, count=300, min=367.1ms, max=945.0ms + save_trajectories: mean=10.51s, total=10.51s, count=1, min=10505.9ms, max=10505.9ms + physics_step: mean=23.8ms, total=7.14s, count=300, min=16.8ms, max=34.1ms + save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3998.7ms, max=3998.7ms + task_sampling: mean=414.1ms, total=414.1ms, count=1, min=414.1ms, max=414.1ms + task_specific_sample: mean=410.0ms, total=410.0ms, count=1, min=410.0ms, max=410.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=459.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=49.9us, 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] +05/12 09:46:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:46:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:46:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:46:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:46:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:46:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:46:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:46:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:46:30 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] +05/12 09:46:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:46:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044659m [env.py: 870] +05/12 09:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:46:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86725309 0.88789791 0.0446586 ] yaw=-171.1deg [env.py: 1019] +05/12 09:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75680419 0.7014468 0.0446586 ] yaw=-195.6deg [env.py: 1019] +05/12 09:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:46:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=339.1ms, total=339.2ms [env.py: 1075] +05/12 09:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.867, 0.888, 0.045) [env.py: 1079] +05/12 09:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.1 deg [env.py: 1082] +05/12 09:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/12 09:46:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:46:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:46:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:46:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:46:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:46:30 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 09:46:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 09:46:31 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] +05/12 09:46:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:46:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:46:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.147s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:46:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.543[m] 94.961[deg] [grasp_sample.py: 539] +05/12 09:46:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:46:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:46:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:46:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:46:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:46:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:46:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:46:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:46:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:46:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:46:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:46:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:46:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:46:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:46:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:46:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 09:46:53 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.711s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:46:53 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.261[deg] [grasp_sample.py: 539] +05/12 09:46:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:46:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:46:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:46:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:46:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:46:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:47:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:47:06 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] +05/12 09:47:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:47:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 09:47:07 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.703s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:47:07 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.355[deg] [grasp_sample.py: 539] +05/12 09:47:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:47:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:47:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:47:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:47:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:47:20 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] +05/12 09:47:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:47:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 09:47:21 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.651s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:47:21 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.355[deg] [grasp_sample.py: 539] +05/12 09:47:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:47:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:47:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:47:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:47:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:47:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:47:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:47:35 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 09:47:36 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:47:59 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:47:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:47:59 INFO: [Worker 0] Preparing episode data: 255 timesteps [save_utils.py: 278] +05/12 09:48:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:48:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:48:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.95s (batch: 3.81s, save: 9.14s) [pipeline.py: 300] +05/12 09:48:13 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.65s: + episode_total: mean=194.44s, total=194.44s, count=1, min=194439.3ms, max=194439.3ms + sensor_polling: mean=411.7ms, total=104.56s, count=254, min=368.8ms, max=923.3ms + save_trajectories: mean=9.14s, total=9.14s, count=1, min=9142.2ms, max=9142.2ms + physics_step: mean=24.6ms, total=6.24s, count=254, min=15.0ms, max=92.6ms + save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3809.2ms, max=3809.2ms + task_sampling: mean=647.5ms, total=647.5ms, count=1, min=647.5ms, max=647.5ms + task_specific_sample: mean=643.2ms, total=643.2ms, count=1, min=643.2ms, max=643.2ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=461.9us, 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] +05/12 09:48:15 WARNING: [Worker 0] No trajectory data to save for chunk_010 [pipeline.py: 234] +05/12 09:48:15 WARNING: [Worker 0] No trajectory data to save for chunk_010 [pipeline.py: 234] +05/12 09:48:15 INFO: [Worker 0] Worker 0 completed house 1: 12/14 successful episodes [pipeline.py: 1323] +05/12 09:48:15 INFO: [Worker 0] [PROFILE] House 1 complete: 12/14 successful, 14 episodes, total_time=5767.49s + House averages: + episode_total: mean=179.53s, total=3231.56s, count=18, min=115330.3ms, max=222214.4ms + sensor_polling: mean=433.7ms, total=2175.96s, count=5017, min=367.4ms, max=1058.9ms + save_trajectories: mean=11.52s, total=138.20s, count=12, min=9142.2ms, max=12841.1ms + physics_step: mean=26.6ms, total=133.56s, count=5017, min=14.6ms, max=92.6ms + save_batch_prep: mean=4.46s, total=53.52s, count=12, min=3809.2ms, max=5959.3ms + task_sampling: mean=794.1ms, total=14.29s, count=18, min=417.5ms, max=5139.7ms + task_specific_sample: mean=533.7ms, total=9.61s, count=18, min=413.7ms, max=682.4ms + scene_load: mean=4.61s, total=4.61s, count=1, min=4607.8ms, max=4607.8ms + scene_env_create: mean=3.01s, total=3.01s, count=1, min=3007.4ms, max=3007.4ms + scene_compile: mean=1.42s, total=1.42s, count=1, min=1415.9ms, max=1415.9ms + compile_mujoco: mean=849.3ms, total=849.3ms, count=1, min=849.3ms, max=849.3ms + compile_xml_load: mean=462.6ms, total=462.6ms, count=1, min=462.6ms, max=462.6ms + scene_init: mean=118.8ms, total=118.8ms, count=1, min=118.8ms, max=118.8ms + scene_asset_install: mean=65.3ms, total=65.3ms, count=1, min=65.3ms, max=65.3ms + compile_aux_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms + compile_aux_policy_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms + asset_install_grasps: mean=46.6ms, total=46.6ms, count=1, min=46.6ms, max=46.6ms + scene_randomize: mean=2.5ms, total=44.3ms, count=18, min=1.2ms, max=3.8ms + compile_robot_add: mean=38.8ms, total=38.8ms, count=1, min=38.8ms, max=38.8ms + asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms + mj_forward_sync: mean=526.5us, total=9.5ms, count=18, min=0.4ms, max=0.9ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + policy_setup: mean=22.2us, 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] +05/12 09:48:15 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 09:48:15 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5767.49s + Worker averages: + episode_total: mean=179.53s, total=3231.56s, count=18, min=115330.3ms, max=222214.4ms + sensor_polling: mean=433.7ms, total=2175.96s, count=5017, min=367.4ms, max=1058.9ms + save_trajectories: mean=11.52s, total=138.20s, count=12, min=9142.2ms, max=12841.1ms + physics_step: mean=26.6ms, total=133.56s, count=5017, min=14.6ms, max=92.6ms + save_batch_prep: mean=4.46s, total=53.52s, count=12, min=3809.2ms, max=5959.3ms + task_sampling: mean=794.1ms, total=14.29s, count=18, min=417.5ms, max=5139.7ms + task_specific_sample: mean=533.7ms, total=9.61s, count=18, min=413.7ms, max=682.4ms + scene_load: mean=4.61s, total=4.61s, count=1, min=4607.8ms, max=4607.8ms + scene_env_create: mean=3.01s, total=3.01s, count=1, min=3007.4ms, max=3007.4ms + scene_compile: mean=1.42s, total=1.42s, count=1, min=1415.9ms, max=1415.9ms + compile_mujoco: mean=849.3ms, total=849.3ms, count=1, min=849.3ms, max=849.3ms + compile_xml_load: mean=462.6ms, total=462.6ms, count=1, min=462.6ms, max=462.6ms + scene_init: mean=118.8ms, total=118.8ms, count=1, min=118.8ms, max=118.8ms + scene_asset_install: mean=65.3ms, total=65.3ms, count=1, min=65.3ms, max=65.3ms + compile_aux_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms + compile_aux_policy_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms + asset_install_grasps: mean=46.6ms, total=46.6ms, count=1, min=46.6ms, max=46.6ms + scene_randomize: mean=2.5ms, total=44.3ms, count=18, min=1.2ms, max=3.8ms + compile_robot_add: mean=38.8ms, total=38.8ms, count=1, min=38.8ms, max=38.8ms + asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms + mj_forward_sync: mean=526.5us, total=9.5ms, count=18, min=0.4ms, max=0.9ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + policy_setup: mean=22.2us, 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] +05/12 09:48:18 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 09:48:18 INFO: Success count: 12, Total count: 14 [pipeline.py: 1491] +05/12 09:48:18 INFO: Success rate: 85.71% [pipeline.py: 1492] +05/12 09:48:45 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:49:13 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:49:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:49:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:49:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:49:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:49:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 17.84s (batch: 4.44s, save: 13.41s) [pipeline.py: 300] +05/12 09:49:32 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.67s: + episode_total: mean=181.71s, total=181.71s, count=1, min=181706.7ms, max=181706.7ms + sensor_polling: mean=413.8ms, total=124.14s, count=300, min=386.9ms, max=954.8ms + save_trajectories: mean=13.41s, total=13.41s, count=1, min=13408.9ms, max=13408.9ms + physics_step: mean=22.6ms, total=6.78s, count=300, min=17.2ms, max=31.6ms + save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4435.7ms, max=4435.7ms + task_sampling: mean=665.1ms, total=665.1ms, count=1, min=665.1ms, max=665.1ms + task_specific_sample: mean=660.7ms, total=660.7ms, count=1, min=660.7ms, max=660.7ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=529.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=23.7us, 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] +05/12 09:49:33 WARNING: [Worker 0] No trajectory data to save for chunk_010 [pipeline.py: 234] +05/12 09:49:33 WARNING: [Worker 0] No trajectory data to save for chunk_010 [pipeline.py: 234] +05/12 09:49:33 INFO: [Worker 0] Worker 0 completed house 1: 11/13 successful episodes [pipeline.py: 1323] +05/12 09:49:33 INFO: [Worker 0] [PROFILE] House 1 complete: 11/13 successful, 13 episodes, total_time=5962.67s + House averages: + episode_total: mean=183.73s, total=3307.07s, count=18, min=154060.7ms, max=212078.2ms + sensor_polling: mean=445.7ms, total=2308.29s, count=5179, min=367.1ms, max=1042.7ms + physics_step: mean=26.3ms, total=136.46s, count=5179, min=16.8ms, max=97.2ms + save_trajectories: mean=12.13s, total=133.38s, count=11, min=10505.9ms, max=13408.9ms + save_batch_prep: mean=4.33s, total=47.59s, count=11, min=3784.9ms, max=4684.1ms + task_sampling: mean=712.8ms, total=12.83s, count=18, min=403.9ms, max=3785.0ms + task_specific_sample: mean=528.7ms, total=9.52s, count=18, min=400.7ms, max=919.9ms + scene_load: mean=3.24s, total=3.24s, count=1, min=3237.7ms, max=3237.7ms + scene_env_create: mean=2.17s, total=2.17s, count=1, min=2166.2ms, max=2166.2ms + scene_compile: mean=889.7ms, total=889.7ms, count=1, min=889.7ms, max=889.7ms + compile_mujoco: mean=631.6ms, total=631.6ms, count=1, min=631.6ms, max=631.6ms + compile_xml_load: mean=186.1ms, total=186.1ms, count=1, min=186.1ms, max=186.1ms + scene_init: mean=116.4ms, total=116.4ms, count=1, min=116.4ms, max=116.4ms + scene_asset_install: mean=64.9ms, total=64.9ms, count=1, min=64.9ms, max=64.9ms + compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + compile_aux_policy_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + asset_install_grasps: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms + scene_randomize: mean=2.3ms, total=42.2ms, count=18, min=1.3ms, max=3.8ms + asset_install_objects: mean=14.2ms, total=14.2ms, count=1, min=14.2ms, max=14.2ms + mj_forward_sync: mean=519.4us, total=9.3ms, count=18, min=0.4ms, max=0.8ms + compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=25.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 09:49:33 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 09:49:33 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5962.67s + Worker averages: + episode_total: mean=183.73s, total=3307.07s, count=18, min=154060.7ms, max=212078.2ms + sensor_polling: mean=445.7ms, total=2308.29s, count=5179, min=367.1ms, max=1042.7ms + physics_step: mean=26.3ms, total=136.46s, count=5179, min=16.8ms, max=97.2ms + save_trajectories: mean=12.13s, total=133.38s, count=11, min=10505.9ms, max=13408.9ms + save_batch_prep: mean=4.33s, total=47.59s, count=11, min=3784.9ms, max=4684.1ms + task_sampling: mean=712.8ms, total=12.83s, count=18, min=403.9ms, max=3785.0ms + task_specific_sample: mean=528.7ms, total=9.52s, count=18, min=400.7ms, max=919.9ms + scene_load: mean=3.24s, total=3.24s, count=1, min=3237.7ms, max=3237.7ms + scene_env_create: mean=2.17s, total=2.17s, count=1, min=2166.2ms, max=2166.2ms + scene_compile: mean=889.7ms, total=889.7ms, count=1, min=889.7ms, max=889.7ms + compile_mujoco: mean=631.6ms, total=631.6ms, count=1, min=631.6ms, max=631.6ms + compile_xml_load: mean=186.1ms, total=186.1ms, count=1, min=186.1ms, max=186.1ms + scene_init: mean=116.4ms, total=116.4ms, count=1, min=116.4ms, max=116.4ms + scene_asset_install: mean=64.9ms, total=64.9ms, count=1, min=64.9ms, max=64.9ms + compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + compile_aux_policy_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + asset_install_grasps: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms + scene_randomize: mean=2.3ms, total=42.2ms, count=18, min=1.3ms, max=3.8ms + asset_install_objects: mean=14.2ms, total=14.2ms, count=1, min=14.2ms, max=14.2ms + mj_forward_sync: mean=519.4us, total=9.3ms, count=18, min=0.4ms, max=0.8ms + compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=25.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 09:49:36 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 09:49:36 INFO: Success count: 11, Total count: 13 [pipeline.py: 1491] +05/12 09:49:36 INFO: Success rate: 84.62% [pipeline.py: 1492] diff --git a/fridge_m_0.7_pd/chunk_010/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_010/trajectories_batch_1_of_4_cam_rand.h5 index c4135d87c4bdff1763a50f709f2eb4b3f0d8a86c..627dcce7ddd28ce2f9518b786830bbd8df7c227b 100644 --- a/fridge_m_0.7_pd/chunk_010/trajectories_batch_1_of_4_cam_rand.h5 +++ b/fridge_m_0.7_pd/chunk_010/trajectories_batch_1_of_4_cam_rand.h5 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dbc235c6866bd68f5e43cd73b239236f73c59e1d59b075472d335fb427849693 -size 470081686 +oid 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09:50:54 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 09:50:54 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 09:50:54 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 09:50:54 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_0.7_pd/sim_chunks/chunk_011'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + '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': 51101, + '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': 0.7, + '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] +05/12 09:50:54 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] +05/12 09:50:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 09:50:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 09:50:55 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 09:50:56 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 09:50:56 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 09:50:56 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 09:50:56 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_0.7_pd/sim_chunks/chunk_011'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + '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': 51103, + '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': 0.7, + '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] +05/12 09:50:56 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] +05/12 09:50:56 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 09:50:56 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 09:50:56 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 09:50:56 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 09:50:56 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 09:50:56 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 09:50:56 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_0.7_pd/sim_chunks/chunk_011'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + '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': 51102, + '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': 0.7, + '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] +05/12 09:50:56 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] +05/12 09:50:56 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 09:50:56 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 09:50:57 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 09:50:57 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 09:50:57 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 09:50:57 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 09:50:57 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_0.7_pd/sim_chunks/chunk_011'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + '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': 51104, + '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': 0.7, + '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] +05/12 09:50:57 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] +05/12 09:50:57 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 09:50:57 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 09:50:57 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 09:50:58 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 09:50:58 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 09:50:58 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 09:50:58 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 09:50:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:50:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:50:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:50:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:50:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:50:58 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] +05/12 09:50:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:50:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057427m [env.py: 870] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:50:58 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92564605 1.02872825 0.05742741] yaw=-105.0deg [env.py: 1019] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94785856 0.35733985 0.05742741] yaw=152.6deg [env.py: 1019] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87334013 1.06788482 0.05742741] yaw=-161.6deg [env.py: 1019] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:50:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=21.6ms, retries=408.2ms, total=429.8ms [env.py: 1075] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 1.029, 0.057) [env.py: 1079] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -105.0 deg [env.py: 1082] +05/12 09:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/12 09:50:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:50:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:50:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:50:59 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 09:50:59 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 09:50:59 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 09:50:59 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 09:50:59 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 09:50:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:50:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:50:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:50:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:50:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:50:59 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] +05/12 09:50:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:50:59 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] +05/12 09:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036512m [env.py: 870] +05/12 09:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:50:59 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 09:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85844115 0.71301037 0.03651173] yaw=-147.3deg [env.py: 1019] +05/12 09:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85775915 0.97107209 0.03651173] yaw=-169.8deg [env.py: 1019] +05/12 09:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:50:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=21.8ms, retries=422.2ms, total=444.0ms [env.py: 1075] +05/12 09:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.858, 0.713, 0.037) [env.py: 1079] +05/12 09:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg [env.py: 1082] +05/12 09:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/12 09:50:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:50:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:51:00 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 09:51:00 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 09:51:00 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 09:51:00 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 09:51:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:51:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:51:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:51:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:51:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:51:00 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] +05/12 09:51:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:51:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056937m [env.py: 870] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:51:00 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:51:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:51:00 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76065451 0.85690364 0.05693728] yaw=-176.8deg [env.py: 1019] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8092376 0.89398721 0.05693728] yaw=-125.0deg [env.py: 1019] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68102318 0.48515289 0.05693728] yaw=-174.6deg [env.py: 1019] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:51:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=21.3ms, retries=232.4ms, total=253.6ms [env.py: 1075] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.761, 0.857, 0.057) [env.py: 1079] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.8 deg [env.py: 1082] +05/12 09:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m [env.py: 1086] +05/12 09:51:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:51:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:51:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:51:00 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 09:51:00 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 09:51:00 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 09:51:01 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 09:51:01 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 09:51:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:51:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:51:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:51:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:51:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:51:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:51:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:51:01 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] +05/12 09:51:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:51:01 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] +05/12 09:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019896m [env.py: 870] +05/12 09:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:51:01 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 09:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.1257629 1.14194634 0.01989581] yaw=-154.3deg [env.py: 1019] +05/12 09:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86931445 0.03788423 0.01989581] yaw=154.9deg [env.py: 1019] +05/12 09:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84160084 0.31894159 0.01989581] yaw=169.8deg [env.py: 1019] +05/12 09:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:51:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=21.6ms, retries=93.4ms, total=115.0ms [env.py: 1075] +05/12 09:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.126, 1.142, 0.020) [env.py: 1079] +05/12 09:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.3 deg [env.py: 1082] +05/12 09:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/12 09:51:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:51:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:51:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:51:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:51:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:51:01 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 09:51:33 INFO: [Worker 0] Warmed up parallel IK solver in 34.576s [base_object_manipulation_planner_policy.py: 377] +05/12 09:51:33 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] +05/12 09:51:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:51:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:51:36 INFO: [Worker 0] Warmed up parallel IK solver in 35.860s [base_object_manipulation_planner_policy.py: 377] +05/12 09:51:36 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] +05/12 09:51:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:51:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:51:37 INFO: [Worker 0] Warmed up parallel IK solver in 35.853s [base_object_manipulation_planner_policy.py: 377] +05/12 09:51:37 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] +05/12 09:51:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:51:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:51:38 INFO: [Worker 0] Warmed up parallel IK solver in 37.920s [base_object_manipulation_planner_policy.py: 377] +05/12 09:51:38 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] +05/12 09:51:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:51:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:51:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.545s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:51:38 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.693[m] 97.927[deg] [grasp_sample.py: 539] +05/12 09:51:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.978s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:51:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.537[m] 92.126[deg] [grasp_sample.py: 539] +05/12 09:51:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:51:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:51:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:51:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:51:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.598s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:51:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.610[m] 85.697[deg] [grasp_sample.py: 539] +05/12 09:51:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.523s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:51:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.439[m] 87.766[deg] [grasp_sample.py: 539] +05/12 09:51:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:51:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:51:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:51:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:51:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:51:40 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:51:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:51:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:51:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:51:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:51:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:51:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:51:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:51:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:51:42 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] +05/12 09:51:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:51:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083879m [env.py: 870] +05/12 09:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:51:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79879451 0.20038267 0.08387933] yaw=128.6deg [env.py: 1019] +05/12 09:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87641581 0.70796928 0.08387933] yaw=-161.9deg [env.py: 1019] +05/12 09:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9576651 0.61502567 0.08387933] yaw=-182.5deg [env.py: 1019] +05/12 09:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:51:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.5ms, total=112.5ms [env.py: 1075] +05/12 09:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.799, 0.200, 0.084) [env.py: 1079] +05/12 09:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 128.6 deg [env.py: 1082] +05/12 09:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/12 09:51:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:51:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:51:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:51:42 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 09:51:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 09:51:42 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] +05/12 09:51:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:51:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:51:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.924s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:51:43 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.574[m] 92.271[deg] [grasp_sample.py: 539] +05/12 09:51:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:51:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:51:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:51:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:52:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:52:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:52:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:52:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:52:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:52:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:52:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:52:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:52:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:52:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:52:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:53:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:53:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:53:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:53:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:53:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:53:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 09:53:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:32 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.704s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:53:32 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.285[deg] [grasp_sample.py: 539] +05/12 09:53:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:53:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:53:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:53:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:53:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:53:37 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] +05/12 09:53:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:53:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 09:53:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:53:40 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.558s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:53:40 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.902[deg] [grasp_sample.py: 539] +05/12 09:53:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:53:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:53:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:53:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:53:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:53:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:54:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:54:02 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:54:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:54:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:54:04 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:54:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:54:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:54:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:54:06 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] +05/12 09:54:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:54:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/12 09:54:06 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:54:08 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.982s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:54:08 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.839[deg] [grasp_sample.py: 539] +05/12 09:54:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:54:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:54:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:54:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:54:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:54:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:54:29 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 09:54:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:54:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:54:31 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 09:54:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:54:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:54:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:54:34 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 09:54:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:54:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:54:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:54:35 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 09:54:35 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=4.27s: + episode_total: mean=108.44s, total=216.89s, count=2, min=43702.6ms, max=173183.9ms + sensor_polling: mean=443.8ms, total=133.15s, count=300, min=399.3ms, max=712.0ms + physics_step: mean=25.4ms, total=7.63s, count=300, min=17.1ms, max=35.2ms + task_sampling: mean=2.13s, total=4.27s, count=2, min=385.8ms, max=3882.7ms + scene_load: mean=3.30s, total=3.30s, count=1, min=3303.8ms, max=3303.8ms + scene_env_create: mean=2.25s, total=2.25s, count=1, min=2246.2ms, max=2246.2ms + task_specific_sample: mean=479.0ms, total=957.9ms, count=2, min=382.2ms, max=575.7ms + scene_compile: mean=876.6ms, total=876.6ms, count=1, min=876.6ms, max=876.6ms + compile_mujoco: mean=614.0ms, total=614.0ms, count=1, min=614.0ms, max=614.0ms + compile_xml_load: mean=186.7ms, total=186.7ms, count=1, min=186.7ms, max=186.7ms + scene_init: mean=125.8ms, total=125.8ms, count=1, min=125.8ms, max=125.8ms + scene_asset_install: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms + compile_aux_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms + compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + asset_install_grasps: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms + asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms + compile_robot_add: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms + asset_install_scene: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.3ms, max=2.1ms + mj_forward_sync: mean=453.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=38.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:54:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:54:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:54:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:54:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:54:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:54:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:54:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:54:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:54:36 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] +05/12 09:54:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:54:36 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] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028875m [env.py: 870] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:54:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96676981 0.08337978 0.02887461] yaw=129.9deg [env.py: 1019] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86859518 0.74027429 0.02887461] yaw=-124.4deg [env.py: 1019] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85462774 0.08503551 0.02887461] yaw=180.1deg [env.py: 1019] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:54:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.3ms, total=172.4ms [env.py: 1075] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.083, 0.029) [env.py: 1079] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 129.9 deg [env.py: 1082] +05/12 09:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m [env.py: 1086] +05/12 09:54:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:54:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:54:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:54:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:54:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:54:37 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 09:54:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 09:54:37 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] +05/12 09:54:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:54:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:54:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.084s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:54:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.422[m] 97.021[deg] [grasp_sample.py: 539] +05/12 09:54:39 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:54:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:54:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:54:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:54:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:54:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:54:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:54:41 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] +05/12 09:54:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:54:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003348m [env.py: 870] +05/12 09:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:54:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87326424 0.71212251 0.00334793] yaw=-156.9deg [env.py: 1019] +05/12 09:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72612972 0.5198986 0.00334793] yaw=-147.0deg [env.py: 1019] +05/12 09:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9169125 0.24115308 0.00334793] yaw=127.1deg [env.py: 1019] +05/12 09:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:54:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=85.7ms, total=85.7ms [env.py: 1075] +05/12 09:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.873, 0.712, 0.003) [env.py: 1079] +05/12 09:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.9 deg [env.py: 1082] +05/12 09:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/12 09:54:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:54:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:54:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:54:42 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 09:54:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 09:54:42 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] +05/12 09:54:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:54:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:54:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.821s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:54:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.423[m] 89.820[deg] [grasp_sample.py: 539] +05/12 09:54:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:54:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:54:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:54:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:54:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:54:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 09:54:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.74s (batch: 4.77s, save: 10.97s) [pipeline.py: 300] +05/12 09:54:46 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.14s: + episode_total: mean=230.16s, total=230.16s, count=1, min=230157.1ms, max=230157.1ms + sensor_polling: mean=438.5ms, total=131.56s, count=300, min=401.8ms, max=716.2ms + save_trajectories: mean=10.97s, total=10.97s, count=1, min=10969.1ms, max=10969.1ms + physics_step: mean=25.8ms, total=7.75s, count=300, min=17.9ms, max=34.0ms + save_batch_prep: mean=4.77s, total=4.77s, count=1, min=4774.1ms, max=4774.1ms + task_sampling: mean=4.14s, total=4.14s, count=1, min=4142.8ms, max=4142.8ms + scene_load: mean=3.34s, total=3.34s, count=1, min=3339.6ms, max=3339.6ms + scene_env_create: mean=2.22s, total=2.22s, count=1, min=2222.2ms, max=2222.2ms + scene_compile: mean=922.3ms, total=922.3ms, count=1, min=922.3ms, max=922.3ms + task_specific_sample: mean=799.7ms, total=799.7ms, count=1, min=799.7ms, max=799.7ms + compile_mujoco: mean=647.5ms, total=647.5ms, count=1, min=647.5ms, max=647.5ms + compile_xml_load: mean=185.8ms, total=185.8ms, count=1, min=185.8ms, max=185.8ms + scene_init: mean=120.9ms, total=120.9ms, count=1, min=120.9ms, max=120.9ms + scene_asset_install: mean=73.5ms, total=73.5ms, count=1, min=73.5ms, max=73.5ms + compile_aux_objects: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms + compile_aux_policy_objects: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms + asset_install_grasps: mean=58.5ms, total=58.5ms, count=1, min=58.5ms, max=58.5ms + compile_robot_add: mean=16.3ms, total=16.3ms, count=1, min=16.3ms, max=16.3ms + asset_install_objects: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=455.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=72.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 09:54:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:54:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 09:54:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.53s (batch: 4.42s, save: 11.11s) [pipeline.py: 300] +05/12 09:54:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:54:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:54:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:54:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:54:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:54:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:54:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:54:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:54:47 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] +05/12 09:54:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:54:47 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] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047948m [env.py: 870] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:54:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00878352 0.82286416 0.04794818] yaw=-115.8deg [env.py: 1019] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90695702 0.62692136 0.04794818] yaw=-196.4deg [env.py: 1019] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6391719 0.29965044 0.04794818] yaw=200.7deg [env.py: 1019] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:54:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.6ms, total=143.6ms [env.py: 1075] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.009, 0.823, 0.048) [env.py: 1079] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -115.8 deg [env.py: 1082] +05/12 09:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m [env.py: 1086] +05/12 09:54:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:54:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:54:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:54:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:54:47 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.86s: + episode_total: mean=230.27s, total=230.27s, count=1, min=230273.5ms, max=230273.5ms + sensor_polling: mean=408.7ms, total=122.62s, count=300, min=380.2ms, max=702.0ms + save_trajectories: mean=11.11s, total=11.11s, count=1, min=11109.9ms, max=11109.9ms + physics_step: mean=24.4ms, total=7.31s, count=300, min=18.1ms, max=32.9ms + save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4419.4ms, max=4419.4ms + task_sampling: mean=3.86s, total=3.86s, count=1, min=3864.2ms, max=3864.2ms + scene_load: mean=3.42s, total=3.42s, count=1, min=3418.7ms, max=3418.7ms + scene_env_create: mean=2.29s, total=2.29s, count=1, min=2286.1ms, max=2286.1ms + scene_compile: mean=960.4ms, total=960.4ms, count=1, min=960.4ms, max=960.4ms + compile_mujoco: mean=671.9ms, total=671.9ms, count=1, min=671.9ms, max=671.9ms + task_specific_sample: mean=442.6ms, total=442.6ms, count=1, min=442.6ms, max=442.6ms + compile_xml_load: mean=194.5ms, total=194.5ms, count=1, min=194.5ms, max=194.5ms + scene_init: mean=120.1ms, total=120.1ms, count=1, min=120.1ms, max=120.1ms + compile_aux_objects: mean=55.4ms, total=55.4ms, count=1, min=55.4ms, max=55.4ms + compile_aux_policy_objects: mean=55.4ms, total=55.4ms, count=1, min=55.4ms, max=55.4ms + scene_asset_install: mean=51.4ms, total=51.4ms, count=1, min=51.4ms, max=51.4ms + asset_install_grasps: mean=37.0ms, total=37.0ms, count=1, min=37.0ms, max=37.0ms + asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms + compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=456.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=53.7us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 09:54:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:54:48 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 09:54:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/12 09:54:48 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] +05/12 09:54:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:54:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:54:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.064s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:54:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.453[m] 92.102[deg] [grasp_sample.py: 539] +05/12 09:54:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:54:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:54:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:54:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:54:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:54:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:54:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:54:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:54:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:54:49 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] +05/12 09:54:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:54:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024703m [env.py: 870] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:54:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02834177 1.22485303 0.02470305] yaw=-124.4deg [env.py: 1019] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03509621 0.82808641 0.02470305] yaw=-132.6deg [env.py: 1019] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7043232 0.77302988 0.02470305] yaw=-196.4deg [env.py: 1019] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:54:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.0ms, total=182.0ms [env.py: 1075] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.028, 1.225, 0.025) [env.py: 1079] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.4 deg [env.py: 1082] +05/12 09:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/12 09:54:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:54:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:54:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:54:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:54:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:54:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:54:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:54:49 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 09:54:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/12 09:54:50 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] +05/12 09:54:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:54:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:54:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 09:54:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.61s (batch: 4.46s, save: 11.15s) [pipeline.py: 300] +05/12 09:54:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:54:51 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.39s: + episode_total: mean=236.25s, total=236.25s, count=1, min=236249.7ms, max=236249.7ms + sensor_polling: mean=452.4ms, total=135.72s, count=300, min=397.2ms, max=708.3ms + save_trajectories: mean=11.15s, total=11.15s, count=1, min=11151.1ms, max=11151.1ms + physics_step: mean=27.8ms, total=8.33s, count=300, min=21.5ms, max=33.2ms + save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4463.1ms, max=4463.1ms + task_sampling: mean=4.39s, total=4.39s, count=1, min=4386.3ms, max=4386.3ms + scene_load: mean=3.66s, total=3.66s, count=1, min=3656.6ms, max=3656.6ms + scene_env_create: mean=2.29s, total=2.29s, count=1, min=2287.7ms, max=2287.7ms + scene_compile: mean=1.19s, total=1.19s, count=1, min=1190.2ms, max=1190.2ms + task_specific_sample: mean=726.2ms, total=726.2ms, count=1, min=726.2ms, max=726.2ms + compile_mujoco: mean=683.3ms, total=683.3ms, count=1, min=683.3ms, max=683.3ms + compile_xml_load: mean=422.1ms, total=422.1ms, count=1, min=422.1ms, max=422.1ms + scene_init: mean=122.0ms, total=122.0ms, count=1, min=122.0ms, max=122.0ms + scene_asset_install: mean=56.4ms, total=56.4ms, count=1, min=56.4ms, max=56.4ms + compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + asset_install_grasps: mean=39.4ms, total=39.4ms, count=1, min=39.4ms, max=39.4ms + compile_robot_add: mean=20.6ms, total=20.6ms, count=1, min=20.6ms, max=20.6ms + asset_install_objects: mean=13.0ms, total=13.0ms, count=1, min=13.0ms, max=13.0ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=460.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=61.5us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 09:54:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:54:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:54:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:54:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:54:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:54:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:54:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:54:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:54:52 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] +05/12 09:54:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:54:52 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] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064311m [env.py: 870] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:54:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96748301 1.21426834 0.06431101] yaw=-117.7deg [env.py: 1019] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63611236 0.37068128 0.06431101] yaw=206.5deg [env.py: 1019] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64106215 0.69731674 0.06431101] yaw=-148.3deg [env.py: 1019] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:54:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=140.0ms, total=140.1ms [env.py: 1075] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.967, 1.214, 0.064) [env.py: 1079] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -117.7 deg [env.py: 1082] +05/12 09:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086] +05/12 09:54:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:54:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:54:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:54:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:54:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:54:53 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 09:54:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/12 09:54:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:54:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:54:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:54:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.524s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:54:54 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.578[m] 83.632[deg] [grasp_sample.py: 539] +05/12 09:54:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.795s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:54:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.640[m] 92.754[deg] [grasp_sample.py: 539] +05/12 09:54:56 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:54:56 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:54:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:54:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:54:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:54:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:54:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:54:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:54:57 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] +05/12 09:54:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:54:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032032m [env.py: 870] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:54:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78886369 0.51505931 0.03203223] yaw=-190.0deg [env.py: 1019] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69038024 0.62314754 0.03203223] yaw=-162.2deg [env.py: 1019] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0014757 1.22399621 0.03203223] yaw=-145.1deg [env.py: 1019] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:54:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.1ms, total=203.1ms [env.py: 1075] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.515, 0.032) [env.py: 1079] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -190.0 deg [env.py: 1082] +05/12 09:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 09:54:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:54:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:54:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:54:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:54:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:54:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:54:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:54:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:54:58 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] +05/12 09:54:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:54:58 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] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054112m [env.py: 870] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:54:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8665703 0.99756253 0.05411246] yaw=-154.0deg [env.py: 1019] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04669477 0.86839835 0.05411246] yaw=-161.2deg [env.py: 1019] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95780545 0.77317776 0.05411246] yaw=-131.4deg [env.py: 1019] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:54:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.6ms, total=209.6ms [env.py: 1075] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.867, 0.998, 0.054) [env.py: 1079] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.0 deg [env.py: 1082] +05/12 09:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/12 09:54:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:54:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:54:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:54:58 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 09:54:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 09:54:58 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] +05/12 09:54:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:54:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:54:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:54:58 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 09:54:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 09:54:58 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] +05/12 09:54:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:54:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:54:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.808s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:54:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.451[m] 85.316[deg] [grasp_sample.py: 539] +05/12 09:54:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:54:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:54:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:55:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:55:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.768s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:55:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.587[m] 99.551[deg] [grasp_sample.py: 539] +05/12 09:55:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:55:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:55:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:55:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:55:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:55:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:55:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:55:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:55:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:55:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:55:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:55:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:56:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:56:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:56:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:57:15 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:57:16 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:57:27 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:57:29 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:57:42 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 09:57:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:57:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:57:45 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 09:57:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:57:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:57:55 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 09:57:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:57:55 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:57:57 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 09:57:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:57:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:57:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:57:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 09:57:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.85s (batch: 4.66s, save: 12.18s) [pipeline.py: 300] +05/12 09:58:00 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.75s: + episode_total: mean=100.76s, total=201.52s, count=2, min=2881.4ms, max=198640.6ms + sensor_polling: mean=470.3ms, total=141.09s, count=300, min=396.6ms, max=721.1ms + save_trajectories: mean=12.18s, total=12.18s, count=1, min=12180.5ms, max=12180.5ms + physics_step: mean=27.6ms, total=8.29s, count=300, min=16.7ms, max=56.3ms + save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4664.8ms, max=4664.8ms + task_sampling: mean=376.8ms, total=753.5ms, count=2, min=331.7ms, max=421.8ms + task_specific_sample: mean=373.9ms, total=747.7ms, count=2, min=328.7ms, max=419.0ms + scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=1.2ms, max=1.4ms + mj_forward_sync: mean=443.2us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:58:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:58:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:58:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:58:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:58:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:58:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:58:01 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] +05/12 09:58:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:58:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092850m [env.py: 870] +05/12 09:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:58:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81866202 0.18156458 0.09284961] yaw=136.7deg [env.py: 1019] +05/12 09:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92262887 0.15467158 0.09284961] yaw=136.0deg [env.py: 1019] +05/12 09:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:58:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:58:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 09:58:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 17.03s (batch: 4.67s, save: 12.36s) [pipeline.py: 300] +05/12 09:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69506711 0.8251866 0.09284961] yaw=-182.8deg [env.py: 1019] +05/12 09:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:58:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=449.2ms, total=449.2ms [env.py: 1075] +05/12 09:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.819, 0.182, 0.093) [env.py: 1079] +05/12 09:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 136.7 deg [env.py: 1082] +05/12 09:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m [env.py: 1086] +05/12 09:58:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:58:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:58:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:58:02 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 09:58:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/12 09:58:02 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] +05/12 09:58:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:58:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:58:03 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.48s: + episode_total: mean=195.55s, total=195.55s, count=1, min=195553.9ms, max=195553.9ms + sensor_polling: mean=453.5ms, total=136.05s, count=300, min=389.4ms, max=781.3ms + save_trajectories: mean=12.36s, total=12.36s, count=1, min=12360.8ms, max=12360.8ms + physics_step: mean=27.0ms, total=8.09s, count=300, min=21.0ms, max=47.2ms + save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4672.3ms, max=4672.3ms + task_sampling: mean=482.1ms, total=482.1ms, count=1, min=482.1ms, max=482.1ms + task_specific_sample: mean=477.9ms, total=477.9ms, count=1, min=477.9ms, max=477.9ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=462.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=29.8us, 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] +05/12 09:58:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.314s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:58:05 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.555[m] 96.083[deg] [grasp_sample.py: 539] +05/12 09:58:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:58:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:58:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:58:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:58:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:58:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:58:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:58:05 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] +05/12 09:58:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:58:05 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] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047258m [env.py: 870] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:58:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73189067 0.67785002 0.04725778] yaw=-131.9deg [env.py: 1019] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82336479 0.84649566 0.04725778] yaw=-118.1deg [env.py: 1019] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93034378 0.20278111 0.04725778] yaw=175.3deg [env.py: 1019] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:58:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.5ms, total=171.5ms [env.py: 1075] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.732, 0.678, 0.047) [env.py: 1079] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg [env.py: 1082] +05/12 09:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/12 09:58:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:58:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:58:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:58:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:58:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:58:05 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 09:58:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s [base_object_manipulation_planner_policy.py: 377] +05/12 09:58:05 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] +05/12 09:58:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:58:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:58:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:58:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.291s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:58:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.634[m] 85.409[deg] [grasp_sample.py: 539] +05/12 09:58:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:58:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:58:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:58:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:58:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 09:58:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.57s (batch: 4.34s, save: 11.23s) [pipeline.py: 300] +05/12 09:58:12 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.08s: + episode_total: mean=100.49s, total=200.97s, count=2, min=6642.4ms, max=194328.0ms + sensor_polling: mean=448.3ms, total=134.49s, count=300, min=384.2ms, max=795.8ms + save_trajectories: mean=11.23s, total=11.23s, count=1, min=11228.9ms, max=11228.9ms + physics_step: mean=28.5ms, total=8.54s, count=300, min=21.7ms, max=39.6ms + save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4343.8ms, max=4343.8ms + task_sampling: mean=541.4ms, total=1.08s, count=2, min=479.2ms, max=603.5ms + task_specific_sample: mean=536.3ms, total=1.07s, count=2, min=474.7ms, max=597.8ms + scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=2.1ms, max=2.7ms + mj_forward_sync: mean=461.3us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=34.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:58:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:58:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 09:58:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.06s (batch: 3.98s, save: 12.08s) [pipeline.py: 300] +05/12 09:58:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:58:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:58:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:58:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:58:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:58:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:58:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:58:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:58:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057171m [env.py: 870] +05/12 09:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:58:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96199291 0.73145769 0.05717115] yaw=-125.9deg [env.py: 1019] +05/12 09:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08971277 0.96697835 0.05717115] yaw=-181.3deg [env.py: 1019] +05/12 09:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71454454 0.6561441 0.05717115] yaw=-176.6deg [env.py: 1019] +05/12 09:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:58:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.6ms, total=125.6ms [env.py: 1075] +05/12 09:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.962, 0.731, 0.057) [env.py: 1079] +05/12 09:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.9 deg [env.py: 1082] +05/12 09:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.781m [env.py: 1086] +05/12 09:58:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:58:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:58:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:58:13 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 09:58:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 09:58:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:58:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:58:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:58:14 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.96s: + episode_total: mean=99.92s, total=199.85s, count=2, min=3704.0ms, max=196144.2ms + sensor_polling: mean=456.4ms, total=136.92s, count=300, min=390.9ms, max=766.4ms + save_trajectories: mean=12.08s, total=12.08s, count=1, min=12080.7ms, max=12080.7ms + physics_step: mean=27.1ms, total=8.13s, count=300, min=18.2ms, max=43.9ms + save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3975.4ms, max=3975.4ms + task_sampling: mean=481.7ms, total=963.3ms, count=2, min=440.4ms, max=522.9ms + task_specific_sample: mean=477.2ms, total=954.5ms, count=2, min=435.8ms, max=518.7ms + scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=2.0ms, max=2.9ms + mj_forward_sync: mean=457.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=61.1us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:58:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.915s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:58:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.446[m] 94.413[deg] [grasp_sample.py: 539] +05/12 09:58:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:58:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:58:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:58:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:58:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:58:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:58:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:58:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:58:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:58:15 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] +05/12 09:58:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:58:15 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] +05/12 09:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036543m [env.py: 870] +05/12 09:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:58:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05064536 1.05142259 0.03654277] yaw=-159.8deg [env.py: 1019] +05/12 09:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77699227 0.21959637 0.03654277] yaw=160.7deg [env.py: 1019] +05/12 09:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88078372 1.2039319 0.03654277] yaw=-167.4deg [env.py: 1019] +05/12 09:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:58:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=678.2ms, total=678.2ms [env.py: 1075] +05/12 09:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.051, 1.051, 0.037) [env.py: 1079] +05/12 09:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.8 deg [env.py: 1082] +05/12 09:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/12 09:58:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:58:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:58:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:58:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:58:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:58:16 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 09:58:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 09:58:16 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] +05/12 09:58:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:58:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:58:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.069s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:58:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.515[m] 101.470[deg] [grasp_sample.py: 539] +05/12 09:58:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:58:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:58:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:58:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:58:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:59:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:59:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:59:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:59:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:59:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:59:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:59:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:59:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:59:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:59:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:59:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:59:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:59:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:59:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:59:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:59:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:59:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:59:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:59:22 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] +05/12 09:59:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:59:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:00:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:00:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:00:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:00:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:00:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:00:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:00:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:00:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:00:38 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:00:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:00:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:00:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:00:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:00:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:00:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:00:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:00:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:00:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:00:44 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] +05/12 10:00:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:00:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:00:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:00:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:00:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:00:44 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] +05/12 10:00:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:00:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:00:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.090s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:00:46 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.031[m] 4.060[deg] [grasp_sample.py: 539] +05/12 10:00:47 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:00:47 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.000s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:00:47 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.862[deg] [grasp_sample.py: 539] +05/12 10:00:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:00:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:00:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:00:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:00:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:00:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:00:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:00:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:00:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:00:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:00:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:00:49 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] +05/12 10:00:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:00:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021900m [env.py: 870] +05/12 10:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:00:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94203766 0.3895883 0.02189999] yaw=203.9deg [env.py: 1019] +05/12 10:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77148221 0.51214224 0.02189999] yaw=-188.0deg [env.py: 1019] +05/12 10:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84897065 0.40752118 0.02189999] yaw=207.1deg [env.py: 1019] +05/12 10:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:00:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=381.4ms, total=381.4ms [env.py: 1075] +05/12 10:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.390, 0.022) [env.py: 1079] +05/12 10:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 203.9 deg [env.py: 1082] +05/12 10:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m [env.py: 1086] +05/12 10:00:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:00:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:00:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:00:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:00:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:00:50 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 10:00:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 10:00:50 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] +05/12 10:00:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:00:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:00:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.838s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:00:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.409[m] 80.809[deg] [grasp_sample.py: 539] +05/12 10:00:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:00:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:00:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:00:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:00:54 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:01:06 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:01:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:01:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:01:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 111.769s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:01:14 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 10:01:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:01:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:01:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:01:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:01:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:01:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:01:15 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] +05/12 10:01:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:01:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096386m [env.py: 870] +05/12 10:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:01:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81179611 0.37325496 0.09638591] yaw=165.8deg [env.py: 1019] +05/12 10:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82323965 0.42242055 0.09638591] yaw=178.6deg [env.py: 1019] +05/12 10:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83130669 1.00598456 0.09638591] yaw=-159.4deg [env.py: 1019] +05/12 10:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:01:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=255.4ms, total=255.4ms [env.py: 1075] +05/12 10:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.373, 0.096) [env.py: 1079] +05/12 10:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg [env.py: 1082] +05/12 10:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/12 10:01:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:01:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:01:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:01:16 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 10:01:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/12 10:01:16 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] +05/12 10:01:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:01:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:01:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.807s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:01:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.479[m] 98.772[deg] [grasp_sample.py: 539] +05/12 10:01:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:01:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:01:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:01:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:01:21 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:01:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:01:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:01:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:01:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:01:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.21s (batch: 4.66s, save: 11.55s) [pipeline.py: 300] +05/12 10:01:23 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.45s: + episode_total: mean=189.58s, total=189.58s, count=1, min=189577.9ms, max=189577.9ms + sensor_polling: mean=439.9ms, total=131.98s, count=300, min=377.6ms, max=903.9ms + save_trajectories: mean=11.55s, total=11.55s, count=1, min=11550.6ms, max=11550.6ms + physics_step: mean=28.3ms, total=8.50s, count=300, min=21.7ms, max=73.9ms + save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4656.7ms, max=4656.7ms + task_sampling: mean=448.6ms, total=448.6ms, count=1, min=448.6ms, max=448.6ms + task_specific_sample: mean=444.5ms, total=444.5ms, count=1, min=444.5ms, max=444.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=453.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=26.4us, 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] +05/12 10:01:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:01:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:01:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:01:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:01:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:01:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:01:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:01:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:01:24 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] +05/12 10:01:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:01:24 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] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050139m [env.py: 870] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:01:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77754333 0.86247493 0.05013873] yaw=-153.9deg [env.py: 1019] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83223078 1.09800395 0.05013873] yaw=-113.7deg [env.py: 1019] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95551162 0.3653058 0.05013873] yaw=200.2deg [env.py: 1019] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:01:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.1ms, total=192.1ms [env.py: 1075] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.778, 0.862, 0.050) [env.py: 1079] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.9 deg [env.py: 1082] +05/12 10:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/12 10:01:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:01:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:01:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:01:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:01:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:01:24 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 10:01:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 10:01:25 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] +05/12 10:01:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:01:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:01:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:01:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.704s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:01:31 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.559[m] 86.629[deg] [grasp_sample.py: 539] +05/12 10:01:33 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:01:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:01:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:01:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:01:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:01:34 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] +05/12 10:01:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:01:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006254m [env.py: 870] +05/12 10:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:01:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89708933 0.34979641 0.00625358] yaw=202.5deg [env.py: 1019] +05/12 10:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.68749684 0.85056357 0.00625358] yaw=-147.7deg [env.py: 1019] +05/12 10:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91290546 0.90360318 0.00625358] yaw=-138.1deg [env.py: 1019] +05/12 10:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:01:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=125.9ms, total=125.9ms [env.py: 1075] +05/12 10:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.897, 0.350, 0.006) [env.py: 1079] +05/12 10:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 202.5 deg [env.py: 1082] +05/12 10:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m [env.py: 1086] +05/12 10:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:01:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:01:35 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 10:01:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 10:01:35 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] +05/12 10:01:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:01:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:01:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.079s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:01:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.481[m] 94.076[deg] [grasp_sample.py: 539] +05/12 10:01:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:01:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:01:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:01:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:01:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:01:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:01:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:01:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.81s (batch: 4.90s, save: 11.91s) [pipeline.py: 300] +05/12 10:01:39 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.01s: + episode_total: mean=204.35s, total=204.35s, count=1, min=204349.0ms, max=204349.0ms + sensor_polling: mean=440.6ms, total=132.19s, count=300, min=393.9ms, max=868.0ms + save_trajectories: mean=11.91s, total=11.91s, count=1, min=11906.7ms, max=11906.7ms + physics_step: mean=26.5ms, total=7.95s, count=300, min=17.1ms, max=36.6ms + save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4900.3ms, max=4900.3ms + task_sampling: mean=1.01s, total=1.01s, count=1, min=1007.6ms, max=1007.6ms + task_specific_sample: mean=1.00s, total=1.00s, count=1, min=1003.3ms, max=1003.3ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=464.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=30.4us, 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] +05/12 10:01:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:01:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:01:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:01:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:01:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:01:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:01:41 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] +05/12 10:01:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:01:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057602m [env.py: 870] +05/12 10:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:01:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01348436 0.12566018 0.05760197] yaw=160.5deg [env.py: 1019] +05/12 10:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92426192 0.91617321 0.05760197] yaw=-165.3deg [env.py: 1019] +05/12 10:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:01:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=262.7ms, total=262.7ms [env.py: 1075] +05/12 10:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.013, 0.126, 0.058) [env.py: 1079] +05/12 10:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.5 deg [env.py: 1082] +05/12 10:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m [env.py: 1086] +05/12 10:01:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:01:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:01:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:01:42 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 10:01:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 10:01:42 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] +05/12 10:01:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:01:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:01:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.861s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:01:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.351[m] 94.662[deg] [grasp_sample.py: 539] +05/12 10:01:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:01:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:01:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:01:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:01:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:02:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:02:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:02:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:02:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:02:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:02:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:02:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:02:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:02:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:02:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:02:33 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] +05/12 10:02:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:02:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:02:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.703s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:02:34 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.248[deg] [grasp_sample.py: 539] +05/12 10:02:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:02:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:02:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:02:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:02:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:03:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:03:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:03:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:03:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:03:19 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] +05/12 10:03:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:03:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 10:03:20 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.475s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:03:20 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.968[deg] [grasp_sample.py: 539] +05/12 10:03:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:03:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:03:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:03:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:03:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:03:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:03:33 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] +05/12 10:03:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:03:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:03:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.679s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:03:33 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.311[deg] [grasp_sample.py: 539] +05/12 10:03:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:03:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:03:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:03:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:03:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:03:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:03:39 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] +05/12 10:03:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:03:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 10:03:40 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.733s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:03:40 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.688[deg] [grasp_sample.py: 539] +05/12 10:03:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:03:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:03:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:03:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:03:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:03:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:03:53 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:03:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:03:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:03:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:04:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:04:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:04:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:04:12 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] +05/12 10:04:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:04:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 10:04:14 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.480s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:04:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.107[m] 1.048[deg] [grasp_sample.py: 539] +05/12 10:04:15 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:04:15 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:04:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:04:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:04:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:04:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:04:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:04:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:04:16 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] +05/12 10:04:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:04:16 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] +05/12 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027135m [env.py: 870] +05/12 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:04:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04857455 1.24165229 0.02713462] yaw=-142.9deg [env.py: 1019] +05/12 10:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92826417 0.54047431 0.02713462] yaw=-205.7deg [env.py: 1019] +05/12 10:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86224835 0.05588628 0.02713462] yaw=166.9deg [env.py: 1019] +05/12 10:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:04:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=251.7ms, total=251.8ms [env.py: 1075] +05/12 10:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.049, 1.242, 0.027) [env.py: 1079] +05/12 10:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.9 deg [env.py: 1082] +05/12 10:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/12 10:04:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:04:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:04:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:04:17 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 10:04:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 10:04:17 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] +05/12 10:04:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:04:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.099s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:04:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.803s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:04:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.635[m] 99.332[deg] [grasp_sample.py: 539] +05/12 10:04:21 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:04:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:04:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:04:21 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:04:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:04:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:04:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:04:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:04:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:04:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:04:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:04:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:04:24 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] +05/12 10:04:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:04:24 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] +05/12 10:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063151m [env.py: 870] +05/12 10:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:04:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74930354 0.3553727 0.06315091] yaw=185.8deg [env.py: 1019] +05/12 10:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80190077 0.36442666 0.06315091] yaw=162.3deg [env.py: 1019] +05/12 10:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98882211 0.12386944 0.06315091] yaw=145.4deg [env.py: 1019] +05/12 10:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:04:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=207.0ms, total=207.1ms [env.py: 1075] +05/12 10:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.355, 0.063) [env.py: 1079] +05/12 10:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.8 deg [env.py: 1082] +05/12 10:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m [env.py: 1086] +05/12 10:04:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:04:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:04:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:04:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:04:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:04:24 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 10:04:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 10:04:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:04:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:04:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:04:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.882s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:04:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.495[m] 82.176[deg] [grasp_sample.py: 539] +05/12 10:04:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:04:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:04:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:04:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:04:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:04:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:04:35 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] +05/12 10:04:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:04:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/12 10:04:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:04:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:04:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.60s (batch: 4.49s, save: 11.12s) [pipeline.py: 300] +05/12 10:04:37 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.13s: + episode_total: mean=195.67s, total=391.35s, count=2, min=189027.5ms, max=202320.3ms + sensor_polling: mean=457.7ms, total=190.87s, count=417, min=394.6ms, max=882.5ms + physics_step: mean=27.1ms, total=11.30s, count=417, min=15.3ms, max=118.2ms + save_trajectories: mean=11.12s, total=11.12s, count=1, min=11117.7ms, max=11117.7ms + save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4485.6ms, max=4485.6ms + task_sampling: mean=564.1ms, total=1.13s, count=2, min=551.5ms, max=576.8ms + task_specific_sample: mean=559.6ms, total=1.12s, count=2, min=547.5ms, max=571.6ms + scene_randomize: mean=2.7ms, total=5.4ms, count=2, min=2.0ms, max=3.4ms + mj_forward_sync: mean=518.8us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + 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] +05/12 10:04:38 INFO: [Worker 0] Feasibility-checked 70 grasps in 3.268s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:04:38 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.380[deg] [grasp_sample.py: 539] +05/12 10:04:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:04:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:04:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:04:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:04:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:04:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:04:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:04:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:04:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:04:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:04:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:04:39 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] +05/12 10:04:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:04:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009061m [env.py: 870] +05/12 10:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:04:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07600792 1.08676554 0.00906055] yaw=-96.5deg [env.py: 1019] +05/12 10:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71809075 0.04468266 0.00906055] yaw=166.4deg [env.py: 1019] +05/12 10:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.16838286 1.15044056 0.00906055] yaw=-89.3deg [env.py: 1019] +05/12 10:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:04:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=140.0ms, total=140.1ms [env.py: 1075] +05/12 10:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.076, 1.087, 0.009) [env.py: 1079] +05/12 10:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -96.5 deg [env.py: 1082] +05/12 10:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/12 10:04:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:04:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:04:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:04:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:04:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:04:39 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 10:04:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/12 10:04:39 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] +05/12 10:04:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:04:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:04:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:04:44 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:04:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:04:44 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:04:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.794s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:04:46 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.605[m] 109.016[deg] [grasp_sample.py: 539] +05/12 10:04:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:04:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:04:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:04:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:04:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:04:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:05:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:05:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:05:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.00s (batch: 4.17s, save: 11.83s) [pipeline.py: 300] +05/12 10:05:00 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.87s: + episode_total: mean=107.47s, total=214.95s, count=2, min=8701.1ms, max=206244.2ms + sensor_polling: mean=451.3ms, total=135.39s, count=300, min=378.3ms, max=823.2ms + save_trajectories: mean=11.83s, total=11.83s, count=1, min=11830.7ms, max=11830.7ms + physics_step: mean=27.6ms, total=8.27s, count=300, min=16.6ms, max=39.2ms + save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4171.5ms, max=4171.5ms + task_sampling: mean=436.7ms, total=873.5ms, count=2, min=377.7ms, max=495.8ms + task_specific_sample: mean=432.7ms, total=865.4ms, count=2, min=373.6ms, max=491.8ms + scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.7ms, max=2.6ms + mj_forward_sync: mean=686.4us, total=1.4ms, count=2, min=0.5ms, max=0.9ms + policy_setup: mean=18.4us, 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] +05/12 10:05:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:05:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:05:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:05:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:05:02 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] +05/12 10:05:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:05:02 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] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087783m [env.py: 870] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:05:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73125402 0.72890052 0.0877831 ] yaw=-179.7deg [env.py: 1019] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78774306 0.33047977 0.0877831 ] yaw=199.0deg [env.py: 1019] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:05:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=226.8ms, total=226.8ms [env.py: 1075] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.729, 0.088) [env.py: 1079] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.7 deg [env.py: 1082] +05/12 10:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/12 10:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:05:02 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:05:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:05:03 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 10:05:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/12 10:05:03 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] +05/12 10:05:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:05:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:05:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.985s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:05:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.592[m] 95.915[deg] [grasp_sample.py: 539] +05/12 10:05:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:05:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:05:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:05:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:05:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:05:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:05:33 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:05:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:05:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:05:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:05:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:05:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:05:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.25s (batch: 4.28s, save: 10.97s) [pipeline.py: 300] +05/12 10:05:49 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.62s: + episode_total: mean=247.75s, total=247.75s, count=1, min=247753.8ms, max=247753.8ms + sensor_polling: mean=455.7ms, total=136.70s, count=300, min=402.5ms, max=917.1ms + save_trajectories: mean=10.97s, total=10.97s, count=1, min=10969.3ms, max=10969.3ms + physics_step: mean=26.6ms, total=7.99s, count=300, min=15.5ms, max=41.3ms + save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4277.9ms, max=4277.9ms + task_sampling: mean=621.2ms, total=621.2ms, count=1, min=621.2ms, max=621.2ms + task_specific_sample: mean=616.8ms, total=616.8ms, count=1, min=616.8ms, max=616.8ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=468.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=40.1us, 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] +05/12 10:05:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:05:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:05:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:05:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:05:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:05:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:05:50 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] +05/12 10:05:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:05:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056739m [env.py: 870] +05/12 10:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:05:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97628287 0.88154736 0.05673911] yaw=-186.6deg [env.py: 1019] +05/12 10:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:05:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=245.6ms, total=245.6ms [env.py: 1075] +05/12 10:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.976, 0.882, 0.057) [env.py: 1079] +05/12 10:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.6 deg [env.py: 1082] +05/12 10:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/12 10:05:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:05:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:05:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:05:51 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 10:05:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/12 10:05:51 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] +05/12 10:05:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:05:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:05:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:05:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.873s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:05:52 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.515[m] 77.892[deg] [grasp_sample.py: 539] +05/12 10:05:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:05:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:05:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:05:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:06:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:06:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:06:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:06:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:06:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:06:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:06:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:06:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:06:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:06:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:06:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:06:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:06:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:06:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:06:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:06:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:06:56 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] +05/12 10:06:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:06:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 10:06:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.644s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:06:57 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.900[deg] [grasp_sample.py: 539] +05/12 10:06:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:06:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:06:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:07:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:07:09 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:07:15 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:07:28 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:07:37 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:07:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:07:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:07:41 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:07:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:07:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:07:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:07:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:07:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.08s (batch: 4.52s, save: 11.56s) [pipeline.py: 300] +05/12 10:07:54 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=2.46s: + episode_total: mean=146.91s, total=587.63s, count=4, min=4972.3ms, max=210616.7ms + sensor_polling: mean=468.7ms, total=406.40s, count=867, min=397.6ms, max=971.7ms + physics_step: mean=28.2ms, total=24.44s, count=867, min=16.9ms, max=50.3ms + save_trajectories: mean=11.56s, total=11.56s, count=1, min=11561.4ms, max=11561.4ms + save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4516.1ms, max=4516.1ms + task_sampling: mean=614.7ms, total=2.46s, count=4, min=487.4ms, max=747.2ms + task_specific_sample: mean=611.1ms, total=2.44s, count=4, min=484.2ms, max=743.2ms + scene_randomize: mean=1.6ms, total=6.6ms, count=4, min=1.2ms, max=2.5ms + mj_forward_sync: mean=451.7us, total=1.8ms, count=4, min=0.4ms, max=0.5ms + policy_setup: mean=21.2us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:07:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:07:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:07:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:07:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:07:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:07:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:07:56 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] +05/12 10:07:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:07:56 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] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037363m [env.py: 870] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:07:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9482505 0.68620459 0.03736293] yaw=-157.4deg [env.py: 1019] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85372845 0.36228016 0.03736293] yaw=142.0deg [env.py: 1019] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82175477 0.50370904 0.03736293] yaw=-215.5deg [env.py: 1019] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:07:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.7ms, total=211.8ms [env.py: 1075] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.948, 0.686, 0.037) [env.py: 1079] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.4 deg [env.py: 1082] +05/12 10:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.781m [env.py: 1086] +05/12 10:07:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:07:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:07:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:07:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:07:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.08s (batch: 4.27s, save: 10.81s) [pipeline.py: 300] +05/12 10:07:56 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:07:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:07:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:07:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:07:56 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 10:07:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/12 10:07:56 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] +05/12 10:07:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:07:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:07:57 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s: + episode_total: mean=198.06s, total=198.06s, count=1, min=198064.1ms, max=198064.1ms + sensor_polling: mean=458.5ms, total=137.56s, count=300, min=392.5ms, max=889.3ms + save_trajectories: mean=10.81s, total=10.81s, count=1, min=10809.3ms, max=10809.3ms + physics_step: mean=26.6ms, total=7.97s, count=300, min=17.4ms, max=36.1ms + save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4274.6ms, max=4274.6ms + task_sampling: mean=485.8ms, total=485.8ms, count=1, min=485.8ms, max=485.8ms + task_specific_sample: mean=481.2ms, total=481.2ms, count=1, min=481.2ms, max=481.2ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=737.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=25.5us, 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] +05/12 10:07:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.983s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:07:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.313[m] 79.976[deg] [grasp_sample.py: 539] +05/12 10:07:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:07:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:07:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:07:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:07:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:07:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:07:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:07:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:07:59 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] +05/12 10:07:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:07:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077461m [env.py: 870] +05/12 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:07:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79782907 0.31149284 0.07746097] yaw=203.1deg [env.py: 1019] +05/12 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92259069 1.15689472 0.07746097] yaw=-114.8deg [env.py: 1019] +05/12 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90859304 0.49193732 0.07746097] yaw=-167.8deg [env.py: 1019] +05/12 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:07:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.4ms, total=142.5ms [env.py: 1075] +05/12 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.311, 0.077) [env.py: 1079] +05/12 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 203.1 deg [env.py: 1082] +05/12 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/12 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:07:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:07:59 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 10:07:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/12 10:07:59 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] +05/12 10:07:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:07:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:08:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.785s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:08:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.612[m] 90.270[deg] [grasp_sample.py: 539] +05/12 10:08:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:08:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:08:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:08:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:08:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:08:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:08:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.82s (batch: 4.58s, save: 11.24s) [pipeline.py: 300] +05/12 10:08:13 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.58s: + episode_total: mean=190.81s, total=190.81s, count=1, min=190806.8ms, max=190806.8ms + sensor_polling: mean=443.5ms, total=133.06s, count=300, min=382.2ms, max=806.6ms + save_trajectories: mean=11.24s, total=11.24s, count=1, min=11242.1ms, max=11242.1ms + physics_step: mean=28.2ms, total=8.46s, count=300, min=21.6ms, max=53.0ms + save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4581.3ms, max=4581.3ms + task_sampling: mean=580.4ms, total=580.4ms, count=1, min=580.4ms, max=580.4ms + task_specific_sample: mean=574.8ms, total=574.8ms, count=1, min=574.8ms, max=574.8ms + scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + mj_forward_sync: mean=877.6us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:08:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:08:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:08:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:08:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:08:14 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] +05/12 10:08:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:08:14 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] +05/12 10:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062725m [env.py: 870] +05/12 10:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:08:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.63647626 0.70837493 0.06272502] yaw=-195.4deg [env.py: 1019] +05/12 10:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66880957 0.84564322 0.06272502] yaw=-198.2deg [env.py: 1019] +05/12 10:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89088603 0.75563147 0.06272502] yaw=-166.7deg [env.py: 1019] +05/12 10:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:08:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=239.8ms, total=239.8ms [env.py: 1075] +05/12 10:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.636, 0.708, 0.063) [env.py: 1079] +05/12 10:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -195.4 deg [env.py: 1082] +05/12 10:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/12 10:08:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:08:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:08:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:08:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:08:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:08:15 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 10:08:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 10:08:15 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] +05/12 10:08:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:08:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:08:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.355s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:08:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.673[m] 80.685[deg] [grasp_sample.py: 539] +05/12 10:08:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:08:18 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:08:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:08:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:08:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:08:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:08:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:08:50 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:08:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:08:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:09:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:09:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:09:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:09:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 17.78s (batch: 4.97s, save: 12.81s) [pipeline.py: 300] +05/12 10:09:08 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.58s: + episode_total: mean=198.12s, total=198.12s, count=1, min=198118.4ms, max=198118.4ms + sensor_polling: mean=449.1ms, total=134.74s, count=300, min=392.0ms, max=874.3ms + save_trajectories: mean=12.81s, total=12.81s, count=1, min=12811.3ms, max=12811.3ms + physics_step: mean=27.1ms, total=8.14s, count=300, min=21.5ms, max=40.2ms + save_batch_prep: mean=4.97s, total=4.97s, count=1, min=4967.0ms, max=4967.0ms + task_sampling: mean=578.6ms, total=578.6ms, count=1, min=578.6ms, max=578.6ms + task_specific_sample: mean=573.5ms, total=573.5ms, count=1, min=573.5ms, max=573.5ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=643.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=36.6us, 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] +05/12 10:09:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:09:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:09:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:09:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:09:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:09:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:09:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:09:10 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] +05/12 10:09:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:09:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065541m [env.py: 870] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:09:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75845479 0.52215297 0.06554053] yaw=-173.2deg [env.py: 1019] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7383735 0.27596975 0.06554053] yaw=207.0deg [env.py: 1019] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.98915254 0.96666526 0.06554053] yaw=-178.6deg [env.py: 1019] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:09:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=242.2ms, total=242.2ms [env.py: 1075] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.758, 0.522, 0.066) [env.py: 1079] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.2 deg [env.py: 1082] +05/12 10:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/12 10:09:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:09:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:09:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:09:10 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 10:09:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/12 10:09:11 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] +05/12 10:09:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:09:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:09:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.088s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:09:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.484[m] 83.897[deg] [grasp_sample.py: 539] +05/12 10:09:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:09:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:09:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:09:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:09:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:09:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:09:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:09:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:09:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:10:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:10:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:10:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:10:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:10:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:10:21 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:10:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:10:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:10:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:10:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:10:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:10:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:10:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:10:29 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] +05/12 10:10:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:10:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:10:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.717s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:10:30 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.077[deg] [grasp_sample.py: 539] +05/12 10:10:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:10:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:10:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:10:37 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:10:40 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:10:48 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:10:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:10:48 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/12 10:11:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:11:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:11:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.50s (batch: 4.41s, save: 11.08s) [pipeline.py: 300] +05/12 10:11:04 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.52s: + episode_total: mean=188.23s, total=188.23s, count=1, min=188226.0ms, max=188226.0ms + sensor_polling: mean=466.6ms, total=132.04s, count=283, min=397.4ms, max=954.7ms + save_trajectories: mean=11.08s, total=11.08s, count=1, min=11083.2ms, max=11083.2ms + physics_step: mean=28.1ms, total=7.94s, count=283, min=16.9ms, max=37.4ms + save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4414.1ms, max=4414.1ms + task_sampling: mean=519.8ms, total=519.8ms, count=1, min=519.8ms, max=519.8ms + task_specific_sample: mean=515.6ms, total=515.6ms, count=1, min=515.6ms, max=515.6ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=468.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.3us, 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] +05/12 10:11:05 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:11:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:11:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:11:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:11:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:11:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:11:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:11:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:11:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:11:06 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] +05/12 10:11:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:11:06 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] +05/12 10:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030432m [env.py: 870] +05/12 10:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:11:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87758258 1.03198213 0.03043238] yaw=-173.1deg [env.py: 1019] +05/12 10:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7959068 0.60958728 0.03043238] yaw=-164.4deg [env.py: 1019] +05/12 10:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89898295 1.05867858 0.03043238] yaw=-155.0deg [env.py: 1019] +05/12 10:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:11:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=122.7ms, total=122.7ms [env.py: 1075] +05/12 10:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.878, 1.032, 0.030) [env.py: 1079] +05/12 10:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.1 deg [env.py: 1082] +05/12 10:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m [env.py: 1086] +05/12 10:11:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:11:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:11:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:11:06 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 10:11:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 10:11:06 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] +05/12 10:11:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:11:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:11:07 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:11:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:11:07 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:11:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.862s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:11:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.655[m] 95.182[deg] [grasp_sample.py: 539] +05/12 10:11:11 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:11:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:11:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:11:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:11:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:11:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:11:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:11:12 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] +05/12 10:11:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:11:12 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] +05/12 10:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079913m [env.py: 870] +05/12 10:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:11:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89177542 0.3724025 0.07991323] yaw=154.7deg [env.py: 1019] +05/12 10:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.12457547 1.01261629 0.07991323] yaw=-152.0deg [env.py: 1019] +05/12 10:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74333765 0.27635197 0.07991323] yaw=128.2deg [env.py: 1019] +05/12 10:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:11:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.0ms, total=102.1ms [env.py: 1075] +05/12 10:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.372, 0.080) [env.py: 1079] +05/12 10:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.7 deg [env.py: 1082] +05/12 10:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/12 10:11:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:11:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:11:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:11:12 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 10:11:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 10:11:12 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] +05/12 10:11:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:11:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:11:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.939s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:11:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.420[m] 88.902[deg] [grasp_sample.py: 539] +05/12 10:11:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:11:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:11:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:11:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:11:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:11:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:11:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.47s (batch: 4.79s, save: 10.68s) [pipeline.py: 300] +05/12 10:11:21 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.56s: + episode_total: mean=186.85s, total=186.85s, count=1, min=186854.6ms, max=186854.6ms + sensor_polling: mean=428.2ms, total=128.47s, count=300, min=374.8ms, max=827.5ms + save_trajectories: mean=10.68s, total=10.68s, count=1, min=10683.4ms, max=10683.4ms + physics_step: mean=28.0ms, total=8.40s, count=300, min=16.9ms, max=39.0ms + save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4786.7ms, max=4786.7ms + task_sampling: mean=562.1ms, total=562.1ms, count=1, min=562.1ms, max=562.1ms + task_specific_sample: mean=558.0ms, total=558.0ms, count=1, min=558.0ms, max=558.0ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=468.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.2us, 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] +05/12 10:11:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:11:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:11:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.75s (batch: 4.50s, save: 10.25s) [pipeline.py: 300] +05/12 10:11:22 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.46s: + episode_total: mean=203.49s, total=203.49s, count=1, min=203492.6ms, max=203492.6ms + sensor_polling: mean=453.9ms, total=136.17s, count=300, min=404.9ms, max=892.8ms + save_trajectories: mean=10.25s, total=10.25s, count=1, min=10247.9ms, max=10247.9ms + physics_step: mean=26.2ms, total=7.85s, count=300, min=19.8ms, max=44.1ms + save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4502.6ms, max=4502.6ms + task_sampling: mean=456.3ms, total=456.3ms, count=1, min=456.3ms, max=456.3ms + task_specific_sample: mean=451.9ms, total=451.9ms, count=1, min=451.9ms, max=451.9ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=470.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=31.9us, 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] +05/12 10:11:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:11:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:11:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:11:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:11:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:11:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:11:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:11:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:11:23 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] +05/12 10:11:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:11:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035184m [env.py: 870] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:11:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63031421 0.60322522 0.03518368] yaw=-160.3deg [env.py: 1019] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88289896 0.76798908 0.03518368] yaw=-170.1deg [env.py: 1019] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89579274 0.71590664 0.03518368] yaw=-185.3deg [env.py: 1019] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:11:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=343.8ms, total=343.8ms [env.py: 1075] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.630, 0.603, 0.035) [env.py: 1079] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.3 deg [env.py: 1082] +05/12 10:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/12 10:11:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:11:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:11:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:11:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:11:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:11:23 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 10:11:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 10:11:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:11:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:11:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:11:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:11:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:11:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:11:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:11:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:11:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:11:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:11:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:11:24 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] +05/12 10:11:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:11:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058158m [env.py: 870] +05/12 10:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:11:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84374501 1.01780703 0.05815822] yaw=-140.0deg [env.py: 1019] +05/12 10:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81053107 0.62506124 0.05815822] yaw=-154.8deg [env.py: 1019] +05/12 10:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06794366 1.14999835 0.05815822] yaw=-101.6deg [env.py: 1019] +05/12 10:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:11:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.1ms, total=142.2ms [env.py: 1075] +05/12 10:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.844, 1.018, 0.058) [env.py: 1079] +05/12 10:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg [env.py: 1082] +05/12 10:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/12 10:11:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:11:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:11:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:11:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:11:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:11:24 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 10:11:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 10:11:24 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] +05/12 10:11:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:11:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:11:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.429s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:11:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.676[m] 92.461[deg] [grasp_sample.py: 539] +05/12 10:11:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:11:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:11:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:11:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:11:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.670s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:11:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.537[m] 80.075[deg] [grasp_sample.py: 539] +05/12 10:11:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:11:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:11:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:11:42 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:11:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:12:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:12:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:12:11 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:12:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:12:11 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:12:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:12:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:12:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:12:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.42s (batch: 4.64s, save: 10.78s) [pipeline.py: 300] +05/12 10:12:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:12:27 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.63s: + episode_total: mean=197.49s, total=197.49s, count=1, min=197485.7ms, max=197485.7ms + sensor_polling: mean=462.9ms, total=138.87s, count=300, min=390.7ms, max=874.3ms + save_trajectories: mean=10.78s, total=10.78s, count=1, min=10775.9ms, max=10775.9ms + physics_step: mean=27.9ms, total=8.38s, count=300, min=21.7ms, max=105.1ms + save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4639.9ms, max=4639.9ms + task_sampling: mean=629.0ms, total=629.0ms, count=1, min=629.0ms, max=629.0ms + task_specific_sample: mean=624.5ms, total=624.5ms, count=1, min=624.5ms, max=624.5ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=458.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=26.9us, 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] +05/12 10:12:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:12:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:12:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:12:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:12:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:12:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:12:29 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] +05/12 10:12:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:12:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022292m [env.py: 870] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:12:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86505795 0.42512919 0.02229193] yaw=192.8deg [env.py: 1019] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7801449 0.60888589 0.02229193] yaw=-161.3deg [env.py: 1019] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89458338 1.15363288 0.02229193] yaw=-120.8deg [env.py: 1019] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:12:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=234.3ms, total=234.4ms [env.py: 1075] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.865, 0.425, 0.022) [env.py: 1079] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 192.8 deg [env.py: 1082] +05/12 10:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/12 10:12:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:12:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:12:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:12:29 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 10:12:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/12 10:12:30 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] +05/12 10:12:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:12:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:12:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:12:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.777s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:12:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.427[m] 88.343[deg] [grasp_sample.py: 539] +05/12 10:12:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:12:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:12:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:12:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:12:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:12:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:12:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:12:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:12:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:12:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:13:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:13:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:13:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:13:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:13:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:13:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:13:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 10:13:31 INFO: [Worker 0] Feasibility-checked 80 grasps in 4.103s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:13:31 INFO: [Worker 0] Feasible grasp found 102 (originally 102): w/ 0.099[m] 0.911[deg] [grasp_sample.py: 539] +05/12 10:13:33 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:13:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:13:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:13:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:13:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:13:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:13:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:13:34 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] +05/12 10:13:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:13:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067703m [env.py: 870] +05/12 10:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:13:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:13:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=654.6ms, total=654.6ms [env.py: 1105] +05/12 10:13:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 285] +05/12 10:13:35 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/12 10:13:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:13:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:13:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:13:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:13:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:13:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:13:37 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] +05/12 10:13:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:13:37 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] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097456m [env.py: 870] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:13:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74280381 0.8809118 0.09745635] yaw=-193.9deg [env.py: 1019] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76165704 0.35695961 0.09745635] yaw=166.7deg [env.py: 1019] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85017426 0.51920125 0.09745635] yaw=-197.2deg [env.py: 1019] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:13:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=539.4ms, total=539.4ms [env.py: 1075] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.881, 0.097) [env.py: 1079] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -193.9 deg [env.py: 1082] +05/12 10:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/12 10:13:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:13:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:13:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:13:38 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 10:13:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377] +05/12 10:13:38 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] +05/12 10:13:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:13:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:13:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.725s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:13:40 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.722[m] 90.120[deg] [grasp_sample.py: 539] +05/12 10:13:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:13:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:13:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:13:52 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:13:57 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:14:20 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:14:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:14:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:14:24 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:14:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:14:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:14:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:14:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:14:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.20s (batch: 4.69s, save: 10.51s) [pipeline.py: 300] +05/12 10:14:36 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.66s: + episode_total: mean=193.08s, total=193.08s, count=1, min=193084.2ms, max=193084.2ms + sensor_polling: mean=450.8ms, total=135.24s, count=300, min=387.0ms, max=896.4ms + save_trajectories: mean=10.51s, total=10.51s, count=1, min=10505.8ms, max=10505.8ms + physics_step: mean=27.5ms, total=8.26s, count=300, min=21.6ms, max=93.9ms + save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4694.5ms, max=4694.5ms + task_sampling: mean=663.5ms, total=663.5ms, count=1, min=663.5ms, max=663.5ms + task_specific_sample: mean=659.3ms, total=659.3ms, count=1, min=659.3ms, max=659.3ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=465.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.7us, 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] +05/12 10:14:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:14:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:14:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:14:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:14:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:14:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:14:37 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] +05/12 10:14:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:14:37 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] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082961m [env.py: 870] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:14:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90372064 0.45429546 0.08296054] yaw=192.1deg [env.py: 1019] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91372534 0.5558801 0.08296054] yaw=-189.5deg [env.py: 1019] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89614594 1.2154331 0.08296054] yaw=-171.2deg [env.py: 1019] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:14:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=235.0ms, total=235.0ms [env.py: 1075] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.904, 0.454, 0.083) [env.py: 1079] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 192.1 deg [env.py: 1082] +05/12 10:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.799m [env.py: 1086] +05/12 10:14:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:14:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:14:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:14:38 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 10:14:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/12 10:14:38 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] +05/12 10:14:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:14:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:14:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:14:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:14:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.14s (batch: 3.75s, save: 10.40s) [pipeline.py: 300] +05/12 10:14:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.783s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:14:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.374[m] 83.256[deg] [grasp_sample.py: 539] +05/12 10:14:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:14:39 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.45s: + episode_total: mean=195.03s, total=195.03s, count=1, min=195032.7ms, max=195032.7ms + sensor_polling: mean=460.3ms, total=138.08s, count=300, min=395.1ms, max=921.6ms + save_trajectories: mean=10.40s, total=10.40s, count=1, min=10395.8ms, max=10395.8ms + physics_step: mean=27.2ms, total=8.17s, count=300, min=21.4ms, max=97.6ms + save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3748.6ms, max=3748.6ms + task_sampling: mean=454.2ms, total=454.2ms, count=1, min=454.2ms, max=454.2ms + task_specific_sample: mean=449.2ms, total=449.2ms, count=1, min=449.2ms, max=449.2ms + scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + mj_forward_sync: mean=466.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=43.5us, 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] +05/12 10:14:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:14:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:14:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:14:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:14:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:14:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:14:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:14:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:14:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:14:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:14:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:14:40 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] +05/12 10:14:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:14:40 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] +05/12 10:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012992m [env.py: 870] +05/12 10:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:14:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88498167 0.35162078 0.01299243] yaw=182.7deg [env.py: 1019] +05/12 10:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.17212103 1.12250049 0.01299243] yaw=-118.6deg [env.py: 1019] +05/12 10:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:14:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=435.2ms, total=435.3ms [env.py: 1075] +05/12 10:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.352, 0.013) [env.py: 1079] +05/12 10:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.7 deg [env.py: 1082] +05/12 10:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/12 10:14:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:14:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:14:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:14:41 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 10:14:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 10:14:41 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] +05/12 10:14:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:14:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:14:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.815s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:14:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.407[m] 85.915[deg] [grasp_sample.py: 539] +05/12 10:14:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:14:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:14:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:14:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:14:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:14:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:14:59 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:15:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:15:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:15:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:15:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:15:27 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:15:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:15:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:15:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:15:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:15:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:15:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:15:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:15:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.34s (batch: 4.66s, save: 11.68s) [pipeline.py: 300] +05/12 10:15:44 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.58s: + episode_total: mean=195.12s, total=195.12s, count=1, min=195120.5ms, max=195120.5ms + sensor_polling: mean=453.3ms, total=135.98s, count=300, min=393.6ms, max=877.2ms + save_trajectories: mean=11.68s, total=11.68s, count=1, min=11675.1ms, max=11675.1ms + physics_step: mean=26.5ms, total=7.96s, count=300, min=16.9ms, max=69.8ms + save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4660.5ms, max=4660.5ms + task_sampling: mean=577.4ms, total=577.4ms, count=1, min=577.4ms, max=577.4ms + task_specific_sample: mean=573.0ms, total=573.0ms, count=1, min=573.0ms, max=573.0ms + 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=31.9us, 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] +05/12 10:15:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:15:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:15:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:15:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:15:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:15:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:15:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:15:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:15:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077169m [env.py: 870] +05/12 10:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:15:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98499189 0.83190392 0.07716896] yaw=-146.2deg [env.py: 1019] +05/12 10:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82561039 0.67308718 0.07716896] yaw=-186.5deg [env.py: 1019] +05/12 10:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:15:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=184.6ms, total=184.6ms [env.py: 1075] +05/12 10:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.832, 0.077) [env.py: 1079] +05/12 10:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.2 deg [env.py: 1082] +05/12 10:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.798m [env.py: 1086] +05/12 10:15:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:15:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:15:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:15:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:15:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:15:46 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 10:15:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 10:15:46 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] +05/12 10:15:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:15:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:15:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.934s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:15:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.357[m] 84.228[deg] [grasp_sample.py: 539] +05/12 10:15:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:15:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:15:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:16:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:10 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:16:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:16:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:16:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:16:22 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] +05/12 10:16:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:16:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:16:22 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.707s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:16:22 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.122[deg] [grasp_sample.py: 539] +05/12 10:16:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:16:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:16:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:16:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:16:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:16:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:16:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:16:36 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] +05/12 10:16:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:16:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:16:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.817s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:16:37 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.410[deg] [grasp_sample.py: 539] +05/12 10:16:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:16:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:16:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:16:38 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:16:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:16:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:16:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:16:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:16:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:16:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:16:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:16:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.78s (batch: 4.40s, save: 11.39s) [pipeline.py: 300] +05/12 10:16:55 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.71s: + episode_total: mean=86.18s, total=344.73s, count=4, min=670.2ms, max=198313.3ms + sensor_polling: mean=456.7ms, total=229.25s, count=502, min=391.9ms, max=873.9ms + physics_step: mean=26.7ms, total=13.40s, count=502, min=17.1ms, max=51.1ms + save_trajectories: mean=11.39s, total=11.39s, count=1, min=11385.4ms, max=11385.4ms + save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4398.7ms, max=4398.7ms + task_specific_sample: mean=590.3ms, total=2.36s, count=4, min=372.4ms, max=854.1ms + task_sampling: mean=570.5ms, total=1.71s, count=3, min=375.8ms, max=858.6ms + task_sampling_failed: mean=670.1ms, total=670.1ms, count=1, min=670.1ms, max=670.1ms + scene_randomize: mean=2.0ms, total=8.1ms, count=4, min=1.4ms, max=3.0ms + mj_forward_sync: mean=577.6us, total=2.3ms, count=4, min=0.5ms, max=0.6ms + policy_setup: mean=17.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:16:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:16:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:16:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:16:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:16:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:16:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:16:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:16:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:16:56 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] +05/12 10:16:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:16:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003310m [env.py: 870] +05/12 10:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:16:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98545872 1.27889651 0.0033096 ] yaw=-142.3deg [env.py: 1019] +05/12 10:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0852016 1.04219658 0.0033096 ] yaw=-111.9deg [env.py: 1019] +05/12 10:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98953143 0.71722077 0.0033096 ] yaw=-140.8deg [env.py: 1019] +05/12 10:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:16:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.1ms, total=138.1ms [env.py: 1075] +05/12 10:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 1.279, 0.003) [env.py: 1079] +05/12 10:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.3 deg [env.py: 1082] +05/12 10:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/12 10:16:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:16:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:16:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:16:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:16:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:16:57 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 10:16:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 10:16:57 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] +05/12 10:16:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:16:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:17:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.765s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:17:00 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:17:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:17:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:17:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:17:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:17:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:17:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:17:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:17:01 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] +05/12 10:17:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:17:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048654m [env.py: 870] +05/12 10:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:17:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97153322 1.12003727 0.04865352] yaw=-152.4deg [env.py: 1019] +05/12 10:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87741251 0.34680482 0.04865352] yaw=180.6deg [env.py: 1019] +05/12 10:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:17:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=191.7ms, total=191.7ms [env.py: 1075] +05/12 10:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 1.120, 0.049) [env.py: 1079] +05/12 10:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.4 deg [env.py: 1082] +05/12 10:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/12 10:17:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:17:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:17:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:17:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:17:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:17:02 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 10:17:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 10:17:02 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] +05/12 10:17:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:17:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:17:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.799s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:17:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.580[m] 98.873[deg] [grasp_sample.py: 539] +05/12 10:17:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:17:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:17:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:17:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:17:23 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:17:26 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:17:51 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:17:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:17:51 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:17:54 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:17:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:17:54 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:18:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:18:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:18:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:18:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.98s (batch: 4.07s, save: 10.91s) [pipeline.py: 300] +05/12 10:18:07 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.85s: + episode_total: mean=206.42s, total=206.42s, count=1, min=206422.9ms, max=206422.9ms + sensor_polling: mean=461.9ms, total=138.57s, count=300, min=402.7ms, max=877.3ms + save_trajectories: mean=10.91s, total=10.91s, count=1, min=10909.9ms, max=10909.9ms + physics_step: mean=26.5ms, total=7.96s, count=300, min=19.5ms, max=34.8ms + save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4065.5ms, max=4065.5ms + task_sampling: mean=847.5ms, total=847.5ms, count=1, min=847.5ms, max=847.5ms + task_specific_sample: mean=843.0ms, total=843.0ms, count=1, min=843.0ms, max=843.0ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=563.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=29.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:18:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:18:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:18:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:18:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:18:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:18:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:18:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:18:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:18:08 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] +05/12 10:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028077m [env.py: 870] +05/12 10:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:18:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81943999 0.10435189 0.02807652] yaw=161.6deg [env.py: 1019] +05/12 10:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.7836121 0.80646337 0.02807652] yaw=-158.1deg [env.py: 1019] +05/12 10:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:18:08 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:18:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=192.8ms, total=192.8ms [env.py: 1075] +05/12 10:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.819, 0.104, 0.028) [env.py: 1079] +05/12 10:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.6 deg [env.py: 1082] +05/12 10:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/12 10:18:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:18:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:18:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:18:08 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 10:18:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 10:18:09 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] +05/12 10:18:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:18:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:18:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:18:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:18:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:18:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.01s (batch: 4.09s, save: 10.92s) [pipeline.py: 300] +05/12 10:18:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.955s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:18:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.509[m] 85.053[deg] [grasp_sample.py: 539] +05/12 10:18:10 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.55s: + episode_total: mean=213.20s, total=213.20s, count=1, min=213196.9ms, max=213196.9ms + sensor_polling: mean=449.0ms, total=134.71s, count=300, min=377.2ms, max=825.0ms + save_trajectories: mean=10.92s, total=10.92s, count=1, min=10923.0ms, max=10923.0ms + physics_step: mean=27.2ms, total=8.16s, count=300, min=15.5ms, max=34.9ms + save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4089.6ms, max=4089.6ms + task_sampling: mean=545.5ms, total=545.5ms, count=1, min=545.5ms, max=545.5ms + task_specific_sample: mean=541.7ms, total=541.7ms, count=1, min=541.7ms, max=541.7ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=474.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.7us, 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] +05/12 10:18:11 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:18:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:18:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:18:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:18:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:18:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:18:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:18:12 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] +05/12 10:18:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:18:12 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] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037067m [env.py: 870] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:18:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.61208243 0.33745016 0.03706658] yaw=144.7deg [env.py: 1019] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96541501 0.88615324 0.03706658] yaw=-156.7deg [env.py: 1019] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:18:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.6ms [env.py: 1075] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.612, 0.337, 0.037) [env.py: 1079] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.7 deg [env.py: 1082] +05/12 10:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m [env.py: 1086] +05/12 10:18:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:18:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:18:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:18:13 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 10:18:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/12 10:18:13 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] +05/12 10:18:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:18:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:18:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:18:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:18:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:18:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:18:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:18:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:18:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084836m [env.py: 870] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:18:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89547008 1.09257493 0.08483639] yaw=-173.6deg [env.py: 1019] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94685727 0.88214974 0.08483639] yaw=-177.2deg [env.py: 1019] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98909179 0.20060346 0.08483639] yaw=141.4deg [env.py: 1019] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:18:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.8ms, total=163.9ms [env.py: 1075] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.895, 1.093, 0.085) [env.py: 1079] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.6 deg [env.py: 1082] +05/12 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/12 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:18:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:18:13 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 10:18:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/12 10:18:13 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] +05/12 10:18:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:18:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:18:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:18:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.971s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:18:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.627[m] 79.244[deg] [grasp_sample.py: 539] +05/12 10:18:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.834s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:18:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.752[m] 94.155[deg] [grasp_sample.py: 539] +05/12 10:18:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:18:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:18:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:18:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:18:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:18:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:18:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:18:37 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:18:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:18:37 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/12 10:18:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:18:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:18:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.74s (batch: 4.53s, save: 11.21s) [pipeline.py: 300] +05/12 10:18:54 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.50s: + episode_total: mean=188.37s, total=188.37s, count=1, min=188367.6ms, max=188367.6ms + sensor_polling: mean=445.3ms, total=130.47s, count=293, min=393.5ms, max=821.6ms + save_trajectories: mean=11.21s, total=11.21s, count=1, min=11209.2ms, max=11209.2ms + physics_step: mean=26.0ms, total=7.61s, count=293, min=20.5ms, max=71.0ms + save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4526.8ms, max=4526.8ms + task_sampling: mean=500.2ms, total=500.2ms, count=1, min=500.2ms, max=500.2ms + task_specific_sample: mean=495.6ms, total=495.6ms, count=1, min=495.6ms, max=495.6ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=662.4us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:18:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:18:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:18:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:18:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:18:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:18:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:18:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:18:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:18:55 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] +05/12 10:18:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:18:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007354m [env.py: 870] +05/12 10:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:18:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67369149 0.37168663 0.00735366] yaw=178.3deg [env.py: 1019] +05/12 10:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85877896 0.41069791 0.00735366] yaw=160.0deg [env.py: 1019] +05/12 10:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74567142 0.2048504 0.00735366] yaw=151.3deg [env.py: 1019] +05/12 10:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:18:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.8ms, total=111.9ms [env.py: 1075] +05/12 10:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.674, 0.372, 0.007) [env.py: 1079] +05/12 10:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.3 deg [env.py: 1082] +05/12 10:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/12 10:18:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:18:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:18:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:18:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:18:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:18:56 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 10:18:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 10:18:56 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] +05/12 10:18:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:18:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:18:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.082s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:18:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.593[m] 86.664[deg] [grasp_sample.py: 539] +05/12 10:18:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:18:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:18:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:18:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:19:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:19:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:19:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:19:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:19:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:19:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:19:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:19:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:19:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:19:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:19:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:19:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:19:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:19:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:19:32 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] +05/12 10:19:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:19:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:19:35 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.623s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:19:35 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.201[deg] [grasp_sample.py: 539] +05/12 10:19:37 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:19:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:19:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:19:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:19:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:19:38 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] +05/12 10:19:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:19:38 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] +05/12 10:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079920m [env.py: 870] +05/12 10:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:19:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:19:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8683261 0.57726042 0.07992009] yaw=-156.8deg [env.py: 1019] +05/12 10:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95995281 1.17372018 0.07992009] yaw=-146.2deg [env.py: 1019] +05/12 10:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87219107 0.90685829 0.07992009] yaw=-135.6deg [env.py: 1019] +05/12 10:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:19:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.1ms, total=227.2ms [env.py: 1075] +05/12 10:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.577, 0.080) [env.py: 1079] +05/12 10:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.8 deg [env.py: 1082] +05/12 10:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/12 10:19:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:19:39 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 10:19:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 10:19:39 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] +05/12 10:19:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:19:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:19:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.168s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:19:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.411[m] 81.443[deg] [grasp_sample.py: 539] +05/12 10:19:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:19:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:19:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:19:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:19:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:19:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:19:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:19:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:19:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:19:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:20:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:20:06 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] +05/12 10:20:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:20:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 84 non-colliding grasps [grasp_sample.py: 465] +05/12 10:20:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:20:09 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.731s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:20:09 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.025[m] 0.827[deg] [grasp_sample.py: 539] +05/12 10:20:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:20:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:20:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:20:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:20:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:20:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:20:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:20:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:20:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:20:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:20:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:20:46 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] +05/12 10:20:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:20:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:20:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:20:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:20:47 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] +05/12 10:20:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:20:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:20:48 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.727s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:20:48 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.875[deg] [grasp_sample.py: 539] +05/12 10:20:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:20:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:20:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:20:51 INFO: [Worker 0] Feasibility-checked 76 grasps in 4.055s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:20:51 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.960[deg] [grasp_sample.py: 539] +05/12 10:20:52 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:20:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:20:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:20:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:20:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:20:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:20:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:20:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:20:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:20:54 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] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026639m [env.py: 870] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:20:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76908143 0.09826144 0.02663904] yaw=158.9deg [env.py: 1019] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80630559 0.89559106 0.02663904] yaw=-124.8deg [env.py: 1019] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.77868896 0.48142259 0.02663904] yaw=164.7deg [env.py: 1019] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:20:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.2ms, total=157.2ms [env.py: 1075] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.098, 0.027) [env.py: 1079] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.9 deg [env.py: 1082] +05/12 10:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/12 10:20:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:20:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:20:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:20:54 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 10:20:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 10:20:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:20:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:20:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:20:57 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:20:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.679s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:20:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.610[m] 100.236[deg] [grasp_sample.py: 539] +05/12 10:20:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:20:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:20:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:20:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:21:24 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:21:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:21:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:21:29 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:21:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:21:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:21:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.49s (batch: 4.26s, save: 11.23s) [pipeline.py: 300] +05/12 10:21:40 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.96s: + episode_total: mean=105.07s, total=210.15s, count=2, min=3140.4ms, max=207005.6ms + sensor_polling: mean=455.3ms, total=136.60s, count=300, min=397.0ms, max=897.1ms + save_trajectories: mean=11.23s, total=11.23s, count=1, min=11232.4ms, max=11232.4ms + physics_step: mean=27.0ms, total=8.10s, count=300, min=17.2ms, max=64.9ms + save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4258.1ms, max=4258.1ms + task_sampling: mean=478.0ms, total=956.0ms, count=2, min=450.6ms, max=505.3ms + task_specific_sample: mean=472.9ms, total=945.7ms, count=2, min=444.8ms, max=501.0ms + scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.1ms, max=2.9ms + mj_forward_sync: mean=453.3us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=15.7us, 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] +05/12 10:21:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:21:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:21:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:21:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:21:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:21:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:21:41 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] +05/12 10:21:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:21:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059223m [env.py: 870] +05/12 10:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:21:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84652351 0.69791978 0.05922267] yaw=-153.0deg [env.py: 1019] +05/12 10:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63708741 0.5854094 0.05922267] yaw=-135.3deg [env.py: 1019] +05/12 10:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84375022 0.1851854 0.05922267] yaw=188.4deg [env.py: 1019] +05/12 10:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:21:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=121.7ms, total=121.7ms [env.py: 1075] +05/12 10:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.698, 0.059) [env.py: 1079] +05/12 10:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.0 deg [env.py: 1082] +05/12 10:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/12 10:21:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:21:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:21:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:21:42 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 10:21:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 10:21:42 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] +05/12 10:21:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:21:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:21:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.897s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:21:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.436[m] 77.381[deg] [grasp_sample.py: 539] +05/12 10:21:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:21:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:21:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:21:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:21:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:21:58 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:21:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:21:58 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:22:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:22:07 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:22:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:22:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:22:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:22:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.31s (batch: 4.75s, save: 11.56s) [pipeline.py: 300] +05/12 10:22:15 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.43s: + episode_total: mean=200.13s, total=200.13s, count=1, min=200134.3ms, max=200134.3ms + sensor_polling: mean=468.9ms, total=140.67s, count=300, min=404.6ms, max=836.6ms + save_trajectories: mean=11.56s, total=11.56s, count=1, min=11564.4ms, max=11564.4ms + physics_step: mean=27.5ms, total=8.25s, count=300, min=21.6ms, max=78.1ms + save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4745.3ms, max=4745.3ms + task_sampling: mean=428.5ms, total=428.5ms, count=1, min=428.5ms, max=428.5ms + task_specific_sample: mean=423.6ms, total=423.6ms, count=1, min=423.6ms, max=423.6ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=645.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=16.5us, 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] +05/12 10:22:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:22:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:22:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:22:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:22:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:22:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:22:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:22:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:22:17 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] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088105m [env.py: 870] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:22:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94944998 0.68996807 0.08810483] yaw=-127.8deg [env.py: 1019] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12376655 1.07128858 0.08810483] yaw=-95.4deg [env.py: 1019] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89351077 0.88207668 0.08810483] yaw=-142.2deg [env.py: 1019] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:22:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.2ms, total=169.3ms [env.py: 1075] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.690, 0.088) [env.py: 1079] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.8 deg [env.py: 1082] +05/12 10:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.781m [env.py: 1086] +05/12 10:22:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:22:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:22:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:22:17 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 10:22:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 10:22:17 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] +05/12 10:22:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:22:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:22:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.894s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:22:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.447[m] 89.138[deg] [grasp_sample.py: 539] +05/12 10:22:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:22:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:22:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:22:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:22:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:22:36 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:22:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:22:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:22:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:22:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:22:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:22:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.34s (batch: 4.27s, save: 11.07s) [pipeline.py: 300] +05/12 10:22:52 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.42s: + episode_total: mean=117.47s, total=352.42s, count=3, min=3424.4ms, max=193645.9ms + sensor_polling: mean=450.6ms, total=260.88s, count=579, min=395.6ms, max=948.6ms + physics_step: mean=27.0ms, total=15.65s, count=579, min=19.1ms, max=38.3ms + save_trajectories: mean=11.07s, total=11.07s, count=1, min=11068.8ms, max=11068.8ms + save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4271.7ms, max=4271.7ms + task_sampling: mean=473.3ms, total=1.42s, count=3, min=448.8ms, max=516.9ms + task_specific_sample: mean=469.4ms, total=1.41s, count=3, min=444.3ms, max=514.1ms + scene_randomize: mean=1.9ms, total=5.7ms, count=3, min=1.3ms, max=2.9ms + mj_forward_sync: mean=506.8us, total=1.5ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=13.8us, total=0.0ms, 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] +05/12 10:22:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:22:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:22:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:22:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:22:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:22:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:22:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:22:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:22:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:22:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:22:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055864m [env.py: 870] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:22:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82251434 0.38951105 0.05586381] yaw=202.2deg [env.py: 1019] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71222511 0.30690312 0.05586381] yaw=161.0deg [env.py: 1019] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76762531 -0.01838512 0.05586381] yaw=157.2deg [env.py: 1019] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:22:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.6ms, total=117.6ms [env.py: 1075] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.390, 0.056) [env.py: 1079] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 202.2 deg [env.py: 1082] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/12 10:22:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:22:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:22:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:22:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:22:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:22:54 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 10:22:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 10:22:54 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] +05/12 10:22:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:22:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:22:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.058s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:22:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.549[m] 93.291[deg] [grasp_sample.py: 539] +05/12 10:22:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:22:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:22:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:22:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:23:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:23:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:23:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:23:22 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:23:51 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:23:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:23:51 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:23:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:24:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:24:06 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:24:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:24:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:24:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:24:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.56s (batch: 4.52s, save: 12.05s) [pipeline.py: 300] +05/12 10:24:08 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.98s: + episode_total: mean=177.22s, total=354.44s, count=2, min=160131.0ms, max=194310.4ms + sensor_polling: mean=449.8ms, total=250.07s, count=556, min=371.6ms, max=985.4ms + physics_step: mean=27.7ms, total=15.39s, count=556, min=17.1ms, max=43.2ms + save_trajectories: mean=12.05s, total=12.05s, count=1, min=12045.5ms, max=12045.5ms + save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4515.3ms, max=4515.3ms + task_sampling: mean=488.0ms, total=976.1ms, count=2, min=436.0ms, max=540.1ms + task_specific_sample: mean=484.4ms, total=968.7ms, count=2, min=432.7ms, max=536.0ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.6ms + mj_forward_sync: mean=468.5us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=16.1us, 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] +05/12 10:24:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:24:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:24:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:24:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:24:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:24:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:24:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:24:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:24:09 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] +05/12 10:24:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:24:09 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] +05/12 10:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081745m [env.py: 870] +05/12 10:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:24:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73628242 0.50388115 0.08174508] yaw=-192.6deg [env.py: 1019] +05/12 10:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78583451 0.396706 0.08174508] yaw=190.8deg [env.py: 1019] +05/12 10:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.76724814 0.85395396 0.08174508] yaw=-184.3deg [env.py: 1019] +05/12 10:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:24:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=411.7ms, total=411.8ms [env.py: 1075] +05/12 10:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.736, 0.504, 0.082) [env.py: 1079] +05/12 10:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -192.6 deg [env.py: 1082] +05/12 10:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m [env.py: 1086] +05/12 10:24:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:24:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:24:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:24:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:24:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:24:10 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 10:24:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 10:24:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:24:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:24:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:24:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.438s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:24:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.512[m] 79.575[deg] [grasp_sample.py: 539] +05/12 10:24:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:24:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:24:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:24:34 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:24:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:24:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:24:48 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:24:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:24:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:24:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.36s (batch: 4.17s, save: 11.19s) [pipeline.py: 300] +05/12 10:24:50 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.46s: + episode_total: mean=189.10s, total=189.10s, count=1, min=189097.4ms, max=189097.4ms + sensor_polling: mean=440.8ms, total=132.24s, count=300, min=398.2ms, max=895.0ms + save_trajectories: mean=11.19s, total=11.19s, count=1, min=11191.3ms, max=11191.3ms + physics_step: mean=25.8ms, total=7.73s, count=300, min=21.5ms, max=61.7ms + save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4173.3ms, max=4173.3ms + task_sampling: mean=459.9ms, total=459.9ms, count=1, min=459.9ms, max=459.9ms + task_specific_sample: mean=454.7ms, total=454.7ms, count=1, min=454.7ms, max=454.7ms + scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + mj_forward_sync: mean=618.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:24:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:24:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:24:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:24:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:24:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:24:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:24:52 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] +05/12 10:24:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:24:52 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] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030113m [env.py: 870] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:24:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93987321 0.866947 0.030113 ] yaw=-174.9deg [env.py: 1019] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81837129 0.11295767 0.030113 ] yaw=168.3deg [env.py: 1019] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:24:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=292.0ms, total=292.1ms [env.py: 1075] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.867, 0.030) [env.py: 1079] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.9 deg [env.py: 1082] +05/12 10:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m [env.py: 1086] +05/12 10:24:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:24:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:24:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:24:53 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 10:24:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/12 10:24:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:24:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:24:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:24:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.896s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:24:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.465[m] 89.697[deg] [grasp_sample.py: 539] +05/12 10:24:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:24:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:24:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:24:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:25:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:25:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:25:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:16 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:25:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:25:16 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:25:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:25:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:25:29 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] +05/12 10:25:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:25:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.099s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:25:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.726s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:25:30 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.334[deg] [grasp_sample.py: 539] +05/12 10:25:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:25:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:25:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:25:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:25:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:25:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.47s (batch: 4.28s, save: 12.19s) [pipeline.py: 300] +05/12 10:25:33 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.51s: + episode_total: mean=196.06s, total=196.06s, count=1, min=196063.4ms, max=196063.4ms + sensor_polling: mean=454.6ms, total=136.37s, count=300, min=396.6ms, max=871.7ms + save_trajectories: mean=12.19s, total=12.19s, count=1, min=12186.2ms, max=12186.2ms + physics_step: mean=26.4ms, total=7.93s, count=300, min=21.6ms, max=36.8ms + save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4284.5ms, max=4284.5ms + task_sampling: mean=511.4ms, total=511.4ms, count=1, min=511.4ms, max=511.4ms + task_specific_sample: mean=507.3ms, total=507.3ms, count=1, min=507.3ms, max=507.3ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=473.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=25.8us, 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] +05/12 10:25:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:25:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:25:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:25:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:25:34 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] +05/12 10:25:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:25:34 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] +05/12 10:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032940m [env.py: 870] +05/12 10:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:25:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95461877 0.57316849 0.03294042] yaw=-195.5deg [env.py: 1019] +05/12 10:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77208433 0.06500813 0.03294042] yaw=195.0deg [env.py: 1019] +05/12 10:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78695234 0.42059713 0.03294042] yaw=181.1deg [env.py: 1019] +05/12 10:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:25:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=185.1ms, total=185.2ms [env.py: 1075] +05/12 10:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.955, 0.573, 0.033) [env.py: 1079] +05/12 10:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -195.5 deg [env.py: 1082] +05/12 10:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.753m [env.py: 1086] +05/12 10:25:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:25:35 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 10:25:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/12 10:25:35 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] +05/12 10:25:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:25:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:25:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.902s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:25:36 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.398[m] 98.360[deg] [grasp_sample.py: 539] +05/12 10:25:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:25:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:25:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:25:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:25:42 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:25:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:25:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:26:12 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:26:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:26:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:26:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:26:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:26:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:26:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:26:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.75s (batch: 4.40s, save: 11.35s) [pipeline.py: 300] +05/12 10:26:28 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.47s: + episode_total: mean=214.35s, total=214.35s, count=1, min=214348.0ms, max=214348.0ms + sensor_polling: mean=477.0ms, total=143.11s, count=300, min=400.0ms, max=1017.2ms + save_trajectories: mean=11.35s, total=11.35s, count=1, min=11348.8ms, max=11348.8ms + physics_step: mean=26.7ms, total=8.01s, count=300, min=16.9ms, max=107.6ms + save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4401.7ms, max=4401.7ms + task_sampling: mean=466.6ms, total=466.6ms, count=1, min=466.6ms, max=466.6ms + task_specific_sample: mean=462.5ms, total=462.5ms, count=1, min=462.5ms, max=462.5ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=465.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.4us, 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] +05/12 10:26:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:26:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:26:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:26:29 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] +05/12 10:26:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:26:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065928m [env.py: 870] +05/12 10:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:26:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98408162 0.73501331 0.06592826] yaw=-152.3deg [env.py: 1019] +05/12 10:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68340474 0.67558044 0.06592826] yaw=-151.0deg [env.py: 1019] +05/12 10:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:26:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=215.5ms, total=215.6ms [env.py: 1075] +05/12 10:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.984, 0.735, 0.066) [env.py: 1079] +05/12 10:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.3 deg [env.py: 1082] +05/12 10:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.762m [env.py: 1086] +05/12 10:26:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:26:30 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 10:26:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/12 10:26:30 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] +05/12 10:26:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:26:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:26:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:26:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.861s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:26:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.353[m] 91.777[deg] [grasp_sample.py: 539] +05/12 10:26:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:26:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:26:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:26:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:26:40 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] diff --git a/fridge_m_0.7_pd/chunk_011/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_011/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8e93ddc410b88ba1dc933f03ac8ef571c71b240a --- /dev/null +++ b/fridge_m_0.7_pd/chunk_011/trajectories_batch_1_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7cd89f3ebf94365f462256dede05216f45e45626c5e27b1740f1bf8816ab3c40 +size 806057705 diff --git a/fridge_m_0.7_pd/chunk_011/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_011/trajectories_batch_2_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6409379fe88c6199acc60876f06de3d67df3988f --- /dev/null +++ b/fridge_m_0.7_pd/chunk_011/trajectories_batch_2_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b39112240e72c437463d99e1a02f2925dae786434c2b7d544ddc7c6a3c33a183 +size 404359510 diff --git a/fridge_m_0.7_pd/chunk_011/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_011/trajectories_batch_3_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fbc05dd1f2992df3ed85bf85a49c92bc5c064b1e --- /dev/null +++ b/fridge_m_0.7_pd/chunk_011/trajectories_batch_3_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af19d84e3a9a9b49126d39e09cb8dce21dbd638483bc06e2d4b024c3f6f715a2 +size 703415350 diff --git a/fridge_m_0.7_pd/chunk_011/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_011/trajectories_batch_4_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..32b1a32b3790dc01a56d37b311ebd01a10a4f262 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_011/trajectories_batch_4_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68bad3d74f27f7f1155b54c83c822c5b8ef3eb7b2e508b5c82f8ebcdbbced1d1 +size 707900696