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b/fridge_m_0.7_pd/chunk_012/episode_00000015_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83a02f2055feccc1e24440d21327296e19af707e51ec18821f0c92899c2886be +size 493381 diff --git a/fridge_m_0.7_pd/chunk_012/running_log.log b/fridge_m_0.7_pd/chunk_012/running_log.log index ceb7c1bedebd989aaaec92a4bb38021c06830ee7..3661bde4a699e1b04553a619ffd13abe4f93841e 100644 --- a/fridge_m_0.7_pd/chunk_012/running_log.log +++ b/fridge_m_0.7_pd/chunk_012/running_log.log @@ -4948,3 +4948,1636 @@ 05/12 11:24:37 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] 05/12 11:24:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] 05/12 11:24:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:24:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:24:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:24:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:24:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.22s (batch: 3.93s, save: 11.30s) [pipeline.py: 300] +05/12 11:24:52 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.58s: + episode_total: mean=202.84s, total=202.84s, count=1, min=202844.2ms, max=202844.2ms + sensor_polling: mean=427.8ms, total=128.35s, count=300, min=386.2ms, max=953.9ms + save_trajectories: mean=11.30s, total=11.30s, count=1, min=11295.5ms, max=11295.5ms + physics_step: mean=24.6ms, total=7.38s, count=300, min=16.9ms, max=77.7ms + save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3925.1ms, max=3925.1ms + task_sampling: mean=580.2ms, total=580.2ms, count=1, min=580.2ms, max=580.2ms + task_specific_sample: mean=575.2ms, total=575.2ms, count=1, min=575.2ms, max=575.2ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=673.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=29.3us, 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 11:24:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:24:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:24:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:24:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:24:54 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 11:24:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:24:54 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 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081200m [env.py: 870] +05/12 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:24:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.18525428 1.0354577 0.08120025] yaw=-104.5deg [env.py: 1019] +05/12 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95580381 0.32185538 0.08120025] yaw=154.8deg [env.py: 1019] +05/12 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76986787 -0.01889914 0.08120025] yaw=134.8deg [env.py: 1019] +05/12 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:24:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.9ms, total=202.9ms [env.py: 1075] +05/12 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.185, 1.035, 0.081) [env.py: 1079] +05/12 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.5 deg [env.py: 1082] +05/12 11:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.757m [env.py: 1086] +05/12 11:24:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:24:54 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 11:24:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 11:24:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:24:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:24:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:24:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.270s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:24:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.361[m] 89.931[deg] [grasp_sample.py: 539] +05/12 11:24:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:24:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:24:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:57 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:24:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:24:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:25:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:25:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:25:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.91s (batch: 4.62s, save: 11.29s) [pipeline.py: 300] +05/12 11:25:13 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.00s: + episode_total: mean=97.41s, total=194.83s, count=2, min=7237.5ms, max=187591.2ms + sensor_polling: mean=444.1ms, total=133.22s, count=300, min=397.1ms, max=986.1ms + save_trajectories: mean=11.29s, total=11.29s, count=1, min=11287.9ms, max=11287.9ms + physics_step: mean=25.8ms, total=7.74s, count=300, min=16.8ms, max=37.6ms + save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4620.1ms, max=4620.1ms + task_sampling: mean=502.3ms, total=1.00s, count=2, min=472.8ms, max=531.8ms + task_specific_sample: mean=498.0ms, total=996.1ms, count=2, min=468.6ms, max=527.5ms + scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.9ms, max=2.9ms + mj_forward_sync: mean=458.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + 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 11:25:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:25:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:25:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:25:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:25:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:25:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:25:15 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 11:25:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:25:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064556m [env.py: 870] +05/12 11:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:25:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69452974 0.11984005 0.06455617] yaw=124.4deg [env.py: 1019] +05/12 11:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94194726 1.19210477 0.06455617] yaw=-159.3deg [env.py: 1019] +05/12 11:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9246045 0.4189826 0.06455617] yaw=184.6deg [env.py: 1019] +05/12 11:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:25:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.2ms, total=130.3ms [env.py: 1075] +05/12 11:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.120, 0.065) [env.py: 1079] +05/12 11:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 124.4 deg [env.py: 1082] +05/12 11:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/12 11:25:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:25:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:25:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:25:15 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 11:25:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/12 11:25:15 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 11:25:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:25:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:25:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.767s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:25:21 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.743[m] 104.036[deg] [grasp_sample.py: 539] +05/12 11:25:22 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:25:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:25:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:25:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:25:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:25:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:25:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:25:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:25:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:25:24 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 11:25:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:25:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044418m [env.py: 870] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:25:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8484738 0.99505921 0.04441826] yaw=-135.8deg [env.py: 1019] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6113671 0.61546387 0.04441826] yaw=-181.1deg [env.py: 1019] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80640526 0.23003668 0.04441826] yaw=153.1deg [env.py: 1019] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:25:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=416.1ms, total=416.2ms [env.py: 1075] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.995, 0.044) [env.py: 1079] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.8 deg [env.py: 1082] +05/12 11:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m [env.py: 1086] +05/12 11:25:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:25:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:25:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:25:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:25:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:25:25 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 11:25:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/12 11:25:25 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 11:25:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:25:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:25:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:25:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.597s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:25:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.604[m] 90.344[deg] [grasp_sample.py: 539] +05/12 11:25:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:25:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:25:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:25:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:25:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:25:53 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:26:06 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:26:20 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:26:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:26:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:26:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:26:33 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:26:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:26:33 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/12 11:26:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:26:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:26:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.22s (batch: 4.21s, save: 11.01s) [pipeline.py: 300] +05/12 11:26:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:26:36 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.54s: + episode_total: mean=183.06s, total=183.06s, count=1, min=183064.1ms, max=183064.1ms + sensor_polling: mean=426.2ms, total=127.87s, count=300, min=372.2ms, max=1058.6ms + save_trajectories: mean=11.01s, total=11.01s, count=1, min=11010.7ms, max=11010.7ms + physics_step: mean=26.1ms, total=7.83s, count=300, min=16.8ms, max=199.7ms + save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4211.8ms, max=4211.8ms + task_sampling: mean=543.3ms, total=543.3ms, count=1, min=543.3ms, max=543.3ms + task_specific_sample: mean=539.2ms, total=539.2ms, count=1, min=539.2ms, max=539.2ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=466.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:26:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:26:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:26:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:26:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:26:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:26:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:26:38 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 11:26:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:26:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085873m [env.py: 870] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:26:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81686629 0.35507187 0.08587345] yaw=146.3deg [env.py: 1019] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89486009 1.05665832 0.08587345] yaw=-148.1deg [env.py: 1019] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93322018 0.83762858 0.08587345] yaw=-183.4deg [env.py: 1019] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:26:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=358.2ms, total=358.3ms [env.py: 1075] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.817, 0.355, 0.086) [env.py: 1079] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.3 deg [env.py: 1082] +05/12 11:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/12 11:26:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:26:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:26:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:26:38 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 11:26:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 11:26:38 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 11:26:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:26:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:26:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.965s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:26:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.538[m] 98.050[deg] [grasp_sample.py: 539] +05/12 11:26:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:26:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:26:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:26:40 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 11:26:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:26:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:26:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:26:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.14s (batch: 3.88s, save: 11.27s) [pipeline.py: 300] +05/12 11:26:49 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.45s: + episode_total: mean=191.08s, total=191.08s, count=1, min=191077.2ms, max=191077.2ms + sensor_polling: mean=442.1ms, total=132.19s, count=299, min=404.3ms, max=1077.1ms + save_trajectories: mean=11.27s, total=11.27s, count=1, min=11266.5ms, max=11266.5ms + physics_step: mean=24.8ms, total=7.41s, count=299, min=16.6ms, max=32.8ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3876.0ms, max=3876.0ms + task_sampling: mean=450.2ms, total=450.2ms, count=1, min=450.2ms, max=450.2ms + task_specific_sample: mean=446.3ms, total=446.3ms, count=1, min=446.3ms, max=446.3ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=448.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:26:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:26:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:26:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:26:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:26:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:26:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:26:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:26:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:26:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087159m [env.py: 870] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:26:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.15058106 1.14213053 0.08715858] yaw=-112.6deg [env.py: 1019] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10839423 0.95652539 0.08715858] yaw=-165.5deg [env.py: 1019] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8737002 0.13718237 0.08715858] yaw=155.4deg [env.py: 1019] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:26:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.4ms, total=154.5ms [env.py: 1075] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.151, 1.142, 0.087) [env.py: 1079] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -112.6 deg [env.py: 1082] +05/12 11:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/12 11:26:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:26:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:26:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:26:51 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 11:26:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/12 11:26:51 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 11:26:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:26:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:26:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.213s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:26:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.454[m] 91.734[deg] [grasp_sample.py: 539] +05/12 11:26:54 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:26:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:26:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:26:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:26:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:26:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:26:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:26:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:26:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:26:56 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 11:26:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:26:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010587m [env.py: 870] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:26:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04753312 1.26205694 0.0105875 ] yaw=-145.4deg [env.py: 1019] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70138472 0.29526751 0.0105875 ] yaw=200.5deg [env.py: 1019] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9557937 1.19360324 0.0105875 ] yaw=-159.9deg [env.py: 1019] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:26:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.1ms, total=135.1ms [env.py: 1075] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.048, 1.262, 0.011) [env.py: 1079] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.4 deg [env.py: 1082] +05/12 11:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [env.py: 1086] +05/12 11:26:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:26:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:26:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:26:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:26:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:26:56 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 11:26:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 11:26:56 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 11:26:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:26:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:26:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:26:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.826s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:26:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.663[m] 95.010[deg] [grasp_sample.py: 539] +05/12 11:26:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:27:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:27:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:27:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:27:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:27:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:27:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:27:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:27:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:27:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:27:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:27:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:27:10 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 11:27:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:27:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 11:27:13 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.638s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:27:13 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.117[deg] [grasp_sample.py: 539] +05/12 11:27:14 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:27:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:27:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:27:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:27:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:27:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:27:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:27:16 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 11:27:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:27:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098108m [env.py: 870] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:27:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84243043 0.2748669 0.0981081 ] yaw=189.1deg [env.py: 1019] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80995395 0.25649192 0.0981081 ] yaw=127.1deg [env.py: 1019] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99487529 0.73745971 0.0981081 ] yaw=-158.8deg [env.py: 1019] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:27:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=202.0ms, total=202.0ms [env.py: 1075] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.842, 0.275, 0.098) [env.py: 1079] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 189.1 deg [env.py: 1082] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/12 11:27:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:27:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:27:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:27:17 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 11:27:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/12 11:27:17 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 11:27:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:27:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:27:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.288s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:27:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.556[m] 104.015[deg] [grasp_sample.py: 539] +05/12 11:27:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:27:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:27:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:27:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:27:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:27:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:27:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:27:48 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:27:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:28:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:28:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:28:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:28:14 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:28:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:28:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:28:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:28:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:28:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:28:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:28:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.38s (batch: 3.52s, save: 10.86s) [pipeline.py: 300] +05/12 11:28:29 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.15s: + episode_total: mean=96.45s, total=192.90s, count=2, min=7716.0ms, max=185184.7ms + sensor_polling: mean=426.4ms, total=127.93s, count=300, min=383.8ms, max=961.6ms + save_trajectories: mean=10.86s, total=10.86s, count=1, min=10859.9ms, max=10859.9ms + physics_step: mean=24.7ms, total=7.42s, count=300, min=21.5ms, max=47.8ms + save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3519.3ms, max=3519.3ms + task_sampling: mean=575.3ms, total=1.15s, count=2, min=433.2ms, max=717.3ms + task_specific_sample: mean=570.9ms, total=1.14s, count=2, min=429.1ms, max=712.7ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.9ms, max=2.7ms + mj_forward_sync: mean=462.9us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + 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 11:28:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:28:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:28:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:28:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:28:30 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 11:28:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:28:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036408m [env.py: 870] +05/12 11:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:28:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81679495 0.30803975 0.03640848] yaw=201.1deg [env.py: 1019] +05/12 11:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94411137 1.07847937 0.03640848] yaw=-162.0deg [env.py: 1019] +05/12 11:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11631995 0.99610089 0.03640848] yaw=-103.1deg [env.py: 1019] +05/12 11:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:28:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.9ms, total=136.9ms [env.py: 1075] +05/12 11:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.817, 0.308, 0.036) [env.py: 1079] +05/12 11:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 201.1 deg [env.py: 1082] +05/12 11:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m [env.py: 1086] +05/12 11:28:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:28:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:28:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:28:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:28:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:28:31 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 11:28:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/12 11:28:31 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 11:28:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:28:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:28:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.161s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:28:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.562[m] 93.030[deg] [grasp_sample.py: 539] +05/12 11:28:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:28:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:28:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:28:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:28:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:28:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:28:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:28:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:28:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 11:28:41 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.595s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:28:41 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.510[deg] [grasp_sample.py: 539] +05/12 11:28:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:28:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:28:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:28:41 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 11:28:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:28:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/12 11:28:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:28:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:28:44 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.814s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:28:44 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:28:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:28:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:28:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:28:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:28:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:28:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:28:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:28:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:28:46 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 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025172m [env.py: 870] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:28:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.62209059 0.60955361 0.02517189] yaw=-195.4deg [env.py: 1019] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90596831 0.96394614 0.02517189] yaw=-181.9deg [env.py: 1019] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94597498 0.63839621 0.02517189] yaw=-145.7deg [env.py: 1019] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:28:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.5ms, total=206.5ms [env.py: 1075] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.622, 0.610, 0.025) [env.py: 1079] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -195.4 deg [env.py: 1082] +05/12 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m [env.py: 1086] +05/12 11:28:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:28:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:28:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:28:46 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 11:28:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 11:28:46 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 11:28:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:28:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:28:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:28:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.813s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:28:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.700[m] 95.718[deg] [grasp_sample.py: 539] +05/12 11:28:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:28:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:28:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:28:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:28:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:28:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:29:01 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:29:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:29:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:27 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:29:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:29:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:29:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:29:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:29:28 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 11:29:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:29:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 11:29:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.667s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:29:29 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.648[deg] [grasp_sample.py: 539] +05/12 11:29:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:29:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:29:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:29:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:29:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:29:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:29:32 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 11:29:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:29:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 11:29:33 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.626s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:29:33 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.633[deg] [grasp_sample.py: 539] +05/12 11:29:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:29:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:29:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:29:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:10 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:29:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:29:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:29:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:29:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 11:29:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:29:36 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.610s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:29:36 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.628[deg] [grasp_sample.py: 539] +05/12 11:29:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:29:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:29:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:29:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:29:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:29:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.08s (batch: 4.00s, save: 11.08s) [pipeline.py: 300] +05/12 11:29:43 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.70s: + episode_total: mean=185.37s, total=185.37s, count=1, min=185365.3ms, max=185365.3ms + sensor_polling: mean=401.2ms, total=120.37s, count=300, min=366.2ms, max=998.2ms + save_trajectories: mean=11.08s, total=11.08s, count=1, min=11082.9ms, max=11082.9ms + physics_step: mean=24.4ms, total=7.33s, count=300, min=16.9ms, max=39.7ms + save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4001.2ms, max=4001.2ms + task_sampling: mean=700.9ms, total=700.9ms, count=1, min=700.9ms, max=700.9ms + task_specific_sample: mean=696.5ms, total=696.5ms, count=1, min=696.5ms, max=696.5ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=458.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:29:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:29:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:29:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:29:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:29:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:29:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:29:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005456m [env.py: 870] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:29:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6434336 0.67752068 0.00545584] yaw=-166.7deg [env.py: 1019] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7788392 0.64592309 0.00545584] yaw=-192.5deg [env.py: 1019] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.18389763 1.02557405 0.00545584] yaw=-160.3deg [env.py: 1019] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:29:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.1ms, total=131.1ms [env.py: 1075] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.643, 0.678, 0.005) [env.py: 1079] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.7 deg [env.py: 1082] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/12 11:29:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:29:45 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 11:29:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 11:29:45 INFO: [Worker 0] Loading grasps 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 11:29:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:29:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.217s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:29:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.630[m] 82.587[deg] [grasp_sample.py: 539] +05/12 11:29:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:29:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:29:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:29:47 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 11:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:29:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:29:50 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 11:29:51 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:29:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:30:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:16 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:30:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:30:16 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/12 11:30:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:30:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:30:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.34s (batch: 3.98s, save: 9.36s) [pipeline.py: 300] +05/12 11:30:30 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.02s: + episode_total: mean=167.34s, total=334.69s, count=2, min=140584.6ms, max=194101.4ms + sensor_polling: mean=430.3ms, total=231.93s, count=539, min=391.2ms, max=981.1ms + physics_step: mean=24.7ms, total=13.30s, count=539, min=15.3ms, max=35.1ms + save_trajectories: mean=9.36s, total=9.36s, count=1, min=9361.5ms, max=9361.5ms + save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3980.1ms, max=3980.1ms + task_sampling: mean=508.6ms, total=1.02s, count=2, min=506.3ms, max=510.9ms + task_specific_sample: mean=503.9ms, total=1.01s, count=2, min=500.9ms, max=506.9ms + scene_randomize: mean=2.6ms, total=5.2ms, count=2, min=2.6ms, max=2.7ms + mj_forward_sync: mean=562.2us, total=1.1ms, count=2, min=0.5ms, max=0.7ms + policy_setup: mean=22.4us, 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 11:30:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:30:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:30:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:30:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:30:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:30:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:30:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:30:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:30:32 INFO: [Worker 0] [OPEN] sorted 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 11:30:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:30:32 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 11:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027560m [env.py: 870] +05/12 11:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:30:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9183842 0.2218012 0.02755956] yaw=201.2deg [env.py: 1019] +05/12 11:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82515118 0.90740088 0.02755956] yaw=-126.6deg [env.py: 1019] +05/12 11:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02100174 1.15858412 0.02755956] yaw=-145.2deg [env.py: 1019] +05/12 11:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:30:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=386.3ms, total=386.4ms [env.py: 1075] +05/12 11:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.918, 0.222, 0.028) [env.py: 1079] +05/12 11:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 201.2 deg [env.py: 1082] +05/12 11:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m [env.py: 1086] +05/12 11:30:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:30:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:30:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:30:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:30:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:30:32 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 11:30:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/12 11:30:32 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 11:30:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:30:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:30:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.074s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:30:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.493[m] 81.222[deg] [grasp_sample.py: 539] +05/12 11:30:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:30:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:30:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:30:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:30:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:30:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:30:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:30:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 11:30:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.743s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:30:43 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.375[deg] [grasp_sample.py: 539] +05/12 11:30:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:30:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:30:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:30:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:59 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:31:05 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:31:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:31:26 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:31:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:31:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:31:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:31:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:31:32 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:31:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:31:32 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:31:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:31:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:31:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.81s (batch: 3.94s, save: 11.87s) [pipeline.py: 300] +05/12 11:31:43 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.45s: + episode_total: mean=192.34s, total=192.34s, count=1, min=192335.9ms, max=192335.9ms + sensor_polling: mean=420.7ms, total=126.22s, count=300, min=384.8ms, max=942.6ms + save_trajectories: mean=11.87s, total=11.87s, count=1, min=11867.5ms, max=11867.5ms + physics_step: mean=24.0ms, total=7.21s, count=300, min=17.0ms, max=68.5ms + save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3943.8ms, max=3943.8ms + task_sampling: mean=447.0ms, total=447.0ms, count=1, min=447.0ms, max=447.0ms + task_specific_sample: mean=442.9ms, total=442.9ms, count=1, min=442.9ms, max=442.9ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=463.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=13.2us, 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 11:31:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:31:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:31:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:31:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:31:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:31:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:31:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:31:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:31:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:31:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:31:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071030m [env.py: 870] +05/12 11:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:31:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93110417 0.86655307 0.07103001] yaw=-156.7deg [env.py: 1019] +05/12 11:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6819999 0.0918982 0.07103001] yaw=173.6deg [env.py: 1019] +05/12 11:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88671331 0.0367325 0.07103001] yaw=173.2deg [env.py: 1019] +05/12 11:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:31:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=547.7ms, total=547.8ms [env.py: 1075] +05/12 11:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.867, 0.071) [env.py: 1079] +05/12 11:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.7 deg [env.py: 1082] +05/12 11:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m [env.py: 1086] +05/12 11:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:31:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:31:45 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 11:31:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 11:31:45 INFO: [Worker 0] Loading grasps 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 11:31:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:31:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:31:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.055s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:31:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.413[m] 79.773[deg] [grasp_sample.py: 539] +05/12 11:31:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:31:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:31:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:31:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.44s (batch: 4.03s, save: 10.41s) [pipeline.py: 300] +05/12 11:31:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:31:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:31:47 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.35s: + episode_total: mean=97.73s, total=293.20s, count=3, min=3289.0ms, max=181652.7ms + sensor_polling: mean=427.1ms, total=212.68s, count=498, min=401.4ms, max=1120.2ms + physics_step: mean=23.2ms, total=11.56s, count=498, min=16.6ms, max=33.1ms + save_trajectories: mean=10.41s, total=10.41s, count=1, min=10406.7ms, max=10406.7ms + save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4034.8ms, max=4034.8ms + task_sampling: mean=449.8ms, total=1.35s, count=3, min=405.4ms, max=475.1ms + task_specific_sample: mean=446.4ms, total=1.34s, count=3, min=402.1ms, max=472.4ms + scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.2ms, max=2.7ms + mj_forward_sync: mean=464.2us, total=1.4ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=17.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:31:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:31:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:31:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:31:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:31:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:31:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:31:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:31:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:31:49 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 11:31:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:31:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063583m [env.py: 870] +05/12 11:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:31:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80934879 0.68662954 0.06358333] yaw=-139.6deg [env.py: 1019] +05/12 11:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03737152 1.04333325 0.06358333] yaw=-140.7deg [env.py: 1019] +05/12 11:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88582889 1.10236533 0.06358333] yaw=-118.7deg [env.py: 1019] +05/12 11:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:31:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.6ms, total=172.7ms [env.py: 1075] +05/12 11:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.809, 0.687, 0.064) [env.py: 1079] +05/12 11:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.6 deg [env.py: 1082] +05/12 11:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/12 11:31:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:31:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:31:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:31:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:31:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:31:49 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 11:31:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 11:31:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:31:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:31:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:31:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.076s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:31:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.536[m] 90.265[deg] [grasp_sample.py: 539] +05/12 11:31:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:31:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:31:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:31:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:32:00 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:32:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:32:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:26 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:32:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:32:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:32:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:32:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:32:30 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 11:32:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:32:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 11:32:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.667s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:32:30 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.468[deg] [grasp_sample.py: 539] +05/12 11:32:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:32:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:32:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:32:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:32:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:32:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:32:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:32:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:32:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.36s (batch: 3.80s, save: 10.55s) [pipeline.py: 300] +05/12 11:32:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:32:41 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.45s: + episode_total: mean=176.86s, total=176.86s, count=1, min=176864.4ms, max=176864.4ms + sensor_polling: mean=413.0ms, total=123.89s, count=300, min=372.1ms, max=915.9ms + save_trajectories: mean=10.55s, total=10.55s, count=1, min=10554.9ms, max=10554.9ms + physics_step: mean=24.1ms, total=7.22s, count=300, min=21.4ms, max=35.7ms + save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3803.9ms, max=3803.9ms + task_sampling: mean=448.2ms, total=448.2ms, count=1, min=448.2ms, max=448.2ms + task_specific_sample: mean=443.8ms, total=443.8ms, count=1, min=443.8ms, max=443.8ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=455.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:32:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:32:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:32:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:32:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:32:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:32:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:32:43 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 11:32:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:32:43 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 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052621m [env.py: 870] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:32:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77621624 0.60975718 0.05262101] yaw=-133.1deg [env.py: 1019] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.14159231 1.02167773 0.05262101] yaw=-115.2deg [env.py: 1019] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92551149 1.22142459 0.05262101] yaw=-143.6deg [env.py: 1019] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:32:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=358.3ms, total=358.4ms [env.py: 1075] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.776, 0.610, 0.053) [env.py: 1079] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg [env.py: 1082] +05/12 11:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/12 11:32:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:32:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:32:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:32:43 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 11:32:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/12 11:32:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:32:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:32:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:32:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.990s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:32:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.638[m] 96.916[deg] [grasp_sample.py: 539] +05/12 11:32:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:32:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:32:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:32:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:32:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:32:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:32:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:32:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:33:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:11 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:33:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:39 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:33:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:33:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:33:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:33:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:33:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:33:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:33:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:33:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:33:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:33:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.71s (batch: 4.14s, save: 10.57s) [pipeline.py: 300] +05/12 11:33:55 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.72s: + episode_total: mean=203.27s, total=203.27s, count=1, min=203266.4ms, max=203266.4ms + sensor_polling: mean=434.6ms, total=130.37s, count=300, min=401.7ms, max=989.6ms + save_trajectories: mean=10.57s, total=10.57s, count=1, min=10568.2ms, max=10568.2ms + physics_step: mean=23.8ms, total=7.15s, count=300, min=15.2ms, max=47.3ms + save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4142.0ms, max=4142.0ms + task_sampling: mean=715.7ms, total=715.7ms, count=1, min=715.7ms, max=715.7ms + task_specific_sample: mean=711.2ms, total=711.2ms, count=1, min=711.2ms, max=711.2ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=458.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.2us, 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 11:33:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:33:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:33:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:33:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:33:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:33:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:33:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:33:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:33:56 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 11:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031660m [env.py: 870] +05/12 11:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:33:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8280597 0.48503741 0.03166032] yaw=-141.6deg [env.py: 1019] +05/12 11:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84963223 1.00295491 0.03166032] yaw=-115.0deg [env.py: 1019] +05/12 11:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:33:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=265.8ms, total=265.9ms [env.py: 1075] +05/12 11:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.828, 0.485, 0.032) [env.py: 1079] +05/12 11:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg [env.py: 1082] +05/12 11:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 11:33:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:33:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:33:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:33:57 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 11:33:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 11:33:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:33:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:33:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:33:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.067s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:33:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.572[m] 91.039[deg] [grasp_sample.py: 539] +05/12 11:33:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:33:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:33:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:33:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:34:06 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:34:08 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:34:32 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:34:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:34:32 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:34:36 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:34:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:34:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:34:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:34:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:34:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.43s (batch: 3.77s, save: 11.67s) [pipeline.py: 300] +05/12 11:34:48 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.87s: + episode_total: mean=184.00s, total=184.00s, count=1, min=183998.9ms, max=183998.9ms + sensor_polling: mean=432.9ms, total=129.86s, count=300, min=397.5ms, max=961.5ms + save_trajectories: mean=11.67s, total=11.67s, count=1, min=11666.0ms, max=11666.0ms + physics_step: mean=24.3ms, total=7.30s, count=300, min=18.1ms, max=37.6ms + save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3768.9ms, max=3768.9ms + task_sampling: mean=874.1ms, total=874.1ms, count=1, min=874.1ms, max=874.1ms + task_specific_sample: mean=869.9ms, total=869.9ms, count=1, min=869.9ms, max=869.9ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=461.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.1us, 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 11:34:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:34:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:34:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:34:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:34:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:34:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:34:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:34:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:34:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:34:50 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 11:34:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:34:50 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 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044712m [env.py: 870] +05/12 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:34:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8497715 0.40849499 0.04471164] yaw=162.0deg [env.py: 1019] +05/12 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79973337 0.31478375 0.04471164] yaw=165.0deg [env.py: 1019] +05/12 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.849409 0.36593402 0.04471164] yaw=149.7deg [env.py: 1019] +05/12 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:34:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.6ms, total=181.7ms [env.py: 1075] +05/12 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.850, 0.408, 0.045) [env.py: 1079] +05/12 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.0 deg [env.py: 1082] +05/12 11:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m [env.py: 1086] +05/12 11:34:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:34:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:34:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:34:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:34:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:34:50 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 11:34:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:34:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:34:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.75s (batch: 4.00s, save: 10.75s) [pipeline.py: 300] +05/12 11:34:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/12 11:34:50 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 11:34:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:34:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:34:51 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.48s: + episode_total: mean=182.25s, total=182.25s, count=1, min=182249.3ms, max=182249.3ms + sensor_polling: mean=427.1ms, total=128.13s, count=300, min=401.7ms, max=1019.7ms + save_trajectories: mean=10.75s, total=10.75s, count=1, min=10747.5ms, max=10747.5ms + physics_step: mean=23.2ms, total=6.96s, count=300, min=16.9ms, max=32.2ms + save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4004.1ms, max=4004.1ms + task_sampling: mean=480.6ms, total=480.6ms, count=1, min=480.6ms, max=480.6ms + task_specific_sample: mean=476.8ms, total=476.8ms, count=1, min=476.8ms, max=476.8ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=455.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.6us, 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 11:34:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.878s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:34:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.430[m] 89.660[deg] [grasp_sample.py: 539] +05/12 11:34:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:34:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:34:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:34:52 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 11:34:53 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/12 11:34:53 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/12 11:34:53 INFO: [Worker 0] Worker 0 completed house 1: 11/11 successful episodes [pipeline.py: 1323] +05/12 11:34:53 INFO: [Worker 0] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=5178.48s + House averages: + episode_total: mean=159.25s, total=2866.46s, count=18, min=3289.0ms, max=237215.6ms + sensor_polling: mean=434.6ms, total=2004.11s, count=4611, min=378.7ms, max=1120.2ms + save_trajectories: mean=10.77s, total=118.46s, count=11, min=10168.5ms, max=11390.9ms + physics_step: mean=24.1ms, total=111.24s, count=4611, min=16.6ms, max=43.1ms + save_batch_prep: mean=4.32s, total=47.51s, count=11, min=3716.6ms, max=7952.6ms + task_sampling: mean=724.2ms, total=13.03s, count=18, min=400.1ms, max=4482.1ms + task_specific_sample: mean=533.5ms, total=9.60s, count=18, min=396.2ms, max=1123.2ms + scene_load: mean=3.36s, total=3.36s, count=1, min=3355.6ms, max=3355.6ms + scene_env_create: mean=1.97s, total=1.97s, count=1, min=1970.6ms, max=1970.6ms + scene_compile: mean=1.21s, total=1.21s, count=1, min=1214.4ms, max=1214.4ms + compile_mujoco: mean=798.8ms, total=798.8ms, count=1, min=798.8ms, max=798.8ms + compile_xml_load: mean=324.2ms, total=324.2ms, count=1, min=324.2ms, max=324.2ms + scene_init: mean=119.3ms, total=119.3ms, count=1, min=119.3ms, max=119.3ms + compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + scene_asset_install: mean=50.8ms, total=50.8ms, count=1, min=50.8ms, max=50.8ms + scene_randomize: mean=2.4ms, total=42.3ms, count=18, min=1.2ms, max=3.7ms + asset_install_grasps: mean=36.4ms, total=36.4ms, count=1, min=36.4ms, max=36.4ms + compile_robot_add: mean=26.1ms, total=26.1ms, count=1, min=26.1ms, max=26.1ms + asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + mj_forward_sync: mean=490.1us, total=8.8ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=24.5us, 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 11:34:53 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 11:34:53 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5178.48s + Worker averages: + episode_total: mean=159.25s, total=2866.46s, count=18, min=3289.0ms, max=237215.6ms + sensor_polling: mean=434.6ms, total=2004.11s, count=4611, min=378.7ms, max=1120.2ms + save_trajectories: mean=10.77s, total=118.46s, count=11, min=10168.5ms, max=11390.9ms + physics_step: mean=24.1ms, total=111.24s, count=4611, min=16.6ms, max=43.1ms + save_batch_prep: mean=4.32s, total=47.51s, count=11, min=3716.6ms, max=7952.6ms + task_sampling: mean=724.2ms, total=13.03s, count=18, min=400.1ms, max=4482.1ms + task_specific_sample: mean=533.5ms, total=9.60s, count=18, min=396.2ms, max=1123.2ms + scene_load: mean=3.36s, total=3.36s, count=1, min=3355.6ms, max=3355.6ms + scene_env_create: mean=1.97s, total=1.97s, count=1, min=1970.6ms, max=1970.6ms + scene_compile: mean=1.21s, total=1.21s, count=1, min=1214.4ms, max=1214.4ms + compile_mujoco: mean=798.8ms, total=798.8ms, count=1, min=798.8ms, max=798.8ms + compile_xml_load: mean=324.2ms, total=324.2ms, count=1, min=324.2ms, max=324.2ms + scene_init: mean=119.3ms, total=119.3ms, count=1, min=119.3ms, max=119.3ms + compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + scene_asset_install: mean=50.8ms, total=50.8ms, count=1, min=50.8ms, max=50.8ms + scene_randomize: mean=2.4ms, total=42.3ms, count=18, min=1.2ms, max=3.7ms + asset_install_grasps: mean=36.4ms, total=36.4ms, count=1, min=36.4ms, max=36.4ms + compile_robot_add: mean=26.1ms, total=26.1ms, count=1, min=26.1ms, max=26.1ms + asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + mj_forward_sync: mean=490.1us, total=8.8ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=24.5us, 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 11:34:57 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 11:34:57 INFO: Success count: 11, Total count: 11 [pipeline.py: 1491] +05/12 11:34:57 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/12 11:34:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:35:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:35:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:35:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:35:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 109.475s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:35:39 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 11:35:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:35:42 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/12 11:35:42 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/12 11:35:42 INFO: [Worker 0] Worker 0 completed house 1: 13/14 successful episodes [pipeline.py: 1323] +05/12 11:35:42 INFO: [Worker 0] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=5178.65s + House averages: + episode_total: mean=162.08s, total=2917.38s, count=18, min=3340.4ms, max=227532.7ms + sensor_polling: mean=411.7ms, total=1894.46s, count=4602, min=365.1ms, max=1058.6ms + save_trajectories: mean=11.31s, total=146.97s, count=13, min=10504.7ms, max=12500.4ms + physics_step: mean=25.2ms, total=116.10s, count=4602, min=15.7ms, max=226.2ms + save_batch_prep: mean=4.09s, total=53.15s, count=13, min=3489.5ms, max=4497.7ms + task_sampling: mean=1.01s, total=18.12s, count=18, min=410.6ms, max=8670.7ms + task_specific_sample: mean=550.6ms, total=9.91s, count=18, min=406.5ms, max=718.8ms + scene_load: mean=8.12s, total=8.12s, count=1, min=8124.4ms, max=8124.4ms + scene_compile: mean=6.16s, total=6.16s, count=1, min=6163.1ms, max=6163.1ms + compile_mujoco: mean=5.64s, total=5.64s, count=1, min=5643.4ms, max=5643.4ms + scene_env_create: mean=1.79s, total=1.79s, count=1, min=1787.2ms, max=1787.2ms + compile_xml_load: mean=428.8ms, total=428.8ms, count=1, min=428.8ms, max=428.8ms + scene_init: mean=116.6ms, total=116.6ms, count=1, min=116.6ms, max=116.6ms + scene_asset_install: mean=57.1ms, total=57.1ms, count=1, min=57.1ms, max=57.1ms + compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + scene_randomize: mean=2.4ms, total=43.4ms, count=18, min=1.2ms, max=3.0ms + asset_install_grasps: mean=36.2ms, total=36.2ms, count=1, min=36.2ms, max=36.2ms + compile_robot_add: mean=26.3ms, total=26.3ms, count=1, min=26.3ms, max=26.3ms + asset_install_objects: mean=11.9ms, total=11.9ms, count=1, min=11.9ms, max=11.9ms + asset_install_scene: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms + mj_forward_sync: mean=456.3us, total=8.2ms, count=18, min=0.4ms, max=0.5ms + policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 11:35:42 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 11:35:42 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5178.65s + Worker averages: + episode_total: mean=162.08s, total=2917.38s, count=18, min=3340.4ms, max=227532.7ms + sensor_polling: mean=411.7ms, total=1894.46s, count=4602, min=365.1ms, max=1058.6ms + save_trajectories: mean=11.31s, total=146.97s, count=13, min=10504.7ms, max=12500.4ms + physics_step: mean=25.2ms, total=116.10s, count=4602, min=15.7ms, max=226.2ms + save_batch_prep: mean=4.09s, total=53.15s, count=13, min=3489.5ms, max=4497.7ms + task_sampling: mean=1.01s, total=18.12s, count=18, min=410.6ms, max=8670.7ms + task_specific_sample: mean=550.6ms, total=9.91s, count=18, min=406.5ms, max=718.8ms + scene_load: mean=8.12s, total=8.12s, count=1, min=8124.4ms, max=8124.4ms + scene_compile: mean=6.16s, total=6.16s, count=1, min=6163.1ms, max=6163.1ms + compile_mujoco: mean=5.64s, total=5.64s, count=1, min=5643.4ms, max=5643.4ms + scene_env_create: mean=1.79s, total=1.79s, count=1, min=1787.2ms, max=1787.2ms + compile_xml_load: mean=428.8ms, total=428.8ms, count=1, min=428.8ms, max=428.8ms + scene_init: mean=116.6ms, total=116.6ms, count=1, min=116.6ms, max=116.6ms + scene_asset_install: mean=57.1ms, total=57.1ms, count=1, min=57.1ms, max=57.1ms + compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + scene_randomize: mean=2.4ms, total=43.4ms, count=18, min=1.2ms, max=3.0ms + asset_install_grasps: mean=36.2ms, total=36.2ms, count=1, min=36.2ms, max=36.2ms + compile_robot_add: mean=26.3ms, total=26.3ms, count=1, min=26.3ms, max=26.3ms + asset_install_objects: mean=11.9ms, total=11.9ms, count=1, min=11.9ms, max=11.9ms + asset_install_scene: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms + mj_forward_sync: mean=456.3us, total=8.2ms, count=18, min=0.4ms, max=0.5ms + policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 11:35:46 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 11:35:46 INFO: Success count: 13, Total count: 14 [pipeline.py: 1491] +05/12 11:35:46 INFO: Success rate: 92.86% [pipeline.py: 1492] +05/12 11:36:13 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:36:43 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:36:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:36:43 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:36:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:36:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:36:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.93s (batch: 4.28s, save: 10.65s) [pipeline.py: 300] +05/12 11:36:58 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.57s: + episode_total: mean=182.34s, total=182.34s, count=1, min=182335.5ms, max=182335.5ms + sensor_polling: mean=419.1ms, total=125.74s, count=300, min=389.4ms, max=1043.9ms + save_trajectories: mean=10.65s, total=10.65s, count=1, min=10649.7ms, max=10649.7ms + physics_step: mean=22.9ms, total=6.87s, count=300, min=16.7ms, max=29.6ms + save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4278.6ms, max=4278.6ms + task_sampling: mean=572.6ms, total=572.6ms, count=1, min=572.6ms, max=572.6ms + task_specific_sample: mean=568.5ms, total=568.5ms, count=1, min=568.5ms, max=568.5ms + 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=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:37:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:37:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:37:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:37:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:37:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:37:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:37:00 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 11:37:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:37:00 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 11:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058683m [env.py: 870] +05/12 11:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:37:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94548939 0.95122751 0.05868327] yaw=-117.5deg [env.py: 1019] +05/12 11:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88893549 0.47332322 0.05868327] yaw=202.3deg [env.py: 1019] +05/12 11:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86520104 0.69293976 0.05868327] yaw=-194.8deg [env.py: 1019] +05/12 11:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:37:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=330.8ms, total=330.8ms [env.py: 1075] +05/12 11:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.945, 0.951, 0.059) [env.py: 1079] +05/12 11:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -117.5 deg [env.py: 1082] +05/12 11:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/12 11:37:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:37:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:37:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:37:00 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 11:37:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 11:37:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:37:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:37:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:37:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.194s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:37:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.548[m] 92.062[deg] [grasp_sample.py: 539] +05/12 11:37:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:37:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:37:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:37:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:37:08 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:37:35 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:37:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:37:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:37:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:37:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:37:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.84s (batch: 3.50s, save: 11.34s) [pipeline.py: 300] +05/12 11:37:51 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.51s: + episode_total: mean=180.81s, total=180.81s, count=1, min=180814.9ms, max=180814.9ms + sensor_polling: mean=417.0ms, total=125.11s, count=300, min=365.5ms, max=955.3ms + save_trajectories: mean=11.34s, total=11.34s, count=1, min=11341.5ms, max=11341.5ms + physics_step: mean=24.6ms, total=7.38s, count=300, min=16.8ms, max=37.1ms + save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3495.1ms, max=3495.1ms + task_sampling: mean=511.8ms, total=511.8ms, count=1, min=511.8ms, max=511.8ms + task_specific_sample: mean=506.5ms, total=506.5ms, count=1, min=506.5ms, max=506.5ms + scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + mj_forward_sync: mean=664.9us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:37:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:37:52 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/12 11:37:52 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/12 11:37:52 INFO: [Worker 0] Worker 0 completed house 1: 13/15 successful episodes [pipeline.py: 1323] +05/12 11:37:52 INFO: [Worker 0] [PROFILE] House 1 complete: 13/15 successful, 15 episodes, total_time=5466.58s + House averages: + episode_total: mean=169.16s, total=3044.84s, count=18, min=7237.5ms, max=260815.6ms + sensor_polling: mean=435.1ms, total=2075.16s, count=4769, min=365.5ms, max=1047.8ms + save_trajectories: mean=11.32s, total=147.21s, count=13, min=10859.9ms, max=11867.5ms + physics_step: mean=25.2ms, total=120.11s, count=4769, min=15.1ms, max=98.0ms + save_batch_prep: mean=3.85s, total=50.01s, count=13, min=3495.1ms, max=4620.1ms + task_sampling: mean=694.2ms, total=12.50s, count=18, min=431.0ms, max=3540.5ms + task_specific_sample: mean=521.2ms, total=9.38s, count=18, min=422.5ms, max=869.9ms + scene_load: mean=3.03s, total=3.03s, count=1, min=3032.7ms, max=3032.7ms + scene_env_create: mean=1.72s, total=1.72s, count=1, min=1723.8ms, max=1723.8ms + scene_compile: mean=1.02s, total=1.02s, count=1, min=1015.1ms, max=1015.1ms + compile_mujoco: mean=729.8ms, total=729.8ms, count=1, min=729.8ms, max=729.8ms + compile_xml_load: mean=185.1ms, total=185.1ms, count=1, min=185.1ms, max=185.1ms + scene_asset_install: mean=172.6ms, total=172.6ms, count=1, min=172.6ms, max=172.6ms + scene_init: mean=120.8ms, total=120.8ms, count=1, min=120.8ms, max=120.8ms + asset_install_grasps: mean=97.3ms, total=97.3ms, count=1, min=97.3ms, max=97.3ms + compile_aux_objects: mean=77.6ms, total=77.6ms, count=1, min=77.6ms, max=77.6ms + compile_aux_policy_objects: mean=77.6ms, total=77.6ms, count=1, min=77.6ms, max=77.6ms + asset_install_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms + scene_randomize: mean=2.5ms, total=45.6ms, count=18, min=1.2ms, max=3.6ms + asset_install_scene: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + compile_robot_add: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + mj_forward_sync: mean=491.4us, total=8.8ms, count=18, min=0.4ms, max=0.8ms + policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 11:37:52 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 11:37:52 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5466.58s + Worker averages: + episode_total: mean=169.16s, total=3044.84s, count=18, min=7237.5ms, max=260815.6ms + sensor_polling: mean=435.1ms, total=2075.16s, count=4769, min=365.5ms, max=1047.8ms + save_trajectories: mean=11.32s, total=147.21s, count=13, min=10859.9ms, max=11867.5ms + physics_step: mean=25.2ms, total=120.11s, count=4769, min=15.1ms, max=98.0ms + save_batch_prep: mean=3.85s, total=50.01s, count=13, min=3495.1ms, max=4620.1ms + task_sampling: mean=694.2ms, total=12.50s, count=18, min=431.0ms, max=3540.5ms + task_specific_sample: mean=521.2ms, total=9.38s, count=18, min=422.5ms, max=869.9ms + scene_load: mean=3.03s, total=3.03s, count=1, min=3032.7ms, max=3032.7ms + scene_env_create: mean=1.72s, total=1.72s, count=1, min=1723.8ms, max=1723.8ms + scene_compile: mean=1.02s, total=1.02s, count=1, min=1015.1ms, max=1015.1ms + compile_mujoco: mean=729.8ms, total=729.8ms, count=1, min=729.8ms, max=729.8ms + compile_xml_load: mean=185.1ms, total=185.1ms, count=1, min=185.1ms, max=185.1ms + scene_asset_install: mean=172.6ms, total=172.6ms, count=1, min=172.6ms, max=172.6ms + scene_init: mean=120.8ms, total=120.8ms, count=1, min=120.8ms, max=120.8ms + asset_install_grasps: mean=97.3ms, total=97.3ms, count=1, min=97.3ms, max=97.3ms + compile_aux_objects: mean=77.6ms, total=77.6ms, count=1, min=77.6ms, max=77.6ms + compile_aux_policy_objects: mean=77.6ms, total=77.6ms, count=1, min=77.6ms, max=77.6ms + asset_install_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms + scene_randomize: mean=2.5ms, total=45.6ms, count=18, min=1.2ms, max=3.6ms + asset_install_scene: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + compile_robot_add: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + mj_forward_sync: mean=491.4us, total=8.8ms, count=18, min=0.4ms, max=0.8ms + policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 11:37:54 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 11:37:54 INFO: Success count: 13, Total count: 15 [pipeline.py: 1491] +05/12 11:37:54 INFO: Success rate: 86.67% [pipeline.py: 1492] +05/12 11:37:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:38:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:39:16 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:39:46 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:39:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:39:46 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:40:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:40:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:40:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.84s (batch: 4.21s, save: 10.63s) [pipeline.py: 300] +05/12 11:40:02 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.64s: + episode_total: mean=182.25s, total=182.25s, count=1, min=182250.2ms, max=182250.2ms + sensor_polling: mean=415.3ms, total=124.58s, count=300, min=388.3ms, max=950.6ms + save_trajectories: mean=10.63s, total=10.63s, count=1, min=10629.5ms, max=10629.5ms + physics_step: mean=23.4ms, total=7.03s, count=300, min=16.8ms, max=29.0ms + save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4206.4ms, max=4206.4ms + task_sampling: mean=643.9ms, total=643.9ms, count=1, min=643.9ms, max=643.9ms + task_specific_sample: mean=639.8ms, total=639.8ms, count=1, min=639.8ms, max=639.8ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=448.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 11:40:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:40:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:40:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:40:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:40:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:40:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:40:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:40:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:40:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:40:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:40:03 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 11:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048638m [env.py: 870] +05/12 11:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:40:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68209438 0.56113712 0.04863836] yaw=-208.9deg [env.py: 1019] +05/12 11:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77066047 0.10879317 0.04863836] yaw=160.1deg [env.py: 1019] +05/12 11:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76824836 0.83161852 0.04863836] yaw=-148.8deg [env.py: 1019] +05/12 11:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:40:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.8ms, total=136.9ms [env.py: 1075] +05/12 11:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.682, 0.561, 0.049) [env.py: 1079] +05/12 11:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -208.9 deg [env.py: 1082] +05/12 11:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/12 11:40:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:40:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:40:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:40:04 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 11:40:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 11:40:04 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 11:40:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:40:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:40:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.747s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:40:06 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.640[m] 87.296[deg] [grasp_sample.py: 539] +05/12 11:40:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:40:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:40:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:40:07 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 11:41:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:41:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:41:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:42:21 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:42:48 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:42:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:42:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:43:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:43:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:43:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.76s (batch: 4.25s, save: 10.52s) [pipeline.py: 300] +05/12 11:43:04 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.45s: + episode_total: mean=180.32s, total=180.32s, count=1, min=180323.9ms, max=180323.9ms + sensor_polling: mean=418.4ms, total=125.52s, count=300, min=393.2ms, max=941.1ms + save_trajectories: mean=10.52s, total=10.52s, count=1, min=10515.0ms, max=10515.0ms + physics_step: mean=23.2ms, total=6.95s, count=300, min=16.7ms, max=26.0ms + save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4248.1ms, max=4248.1ms + task_sampling: mean=447.7ms, total=447.7ms, count=1, min=447.7ms, max=447.7ms + task_specific_sample: mean=443.7ms, total=443.7ms, count=1, min=443.7ms, max=443.7ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=446.4us, 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 11:43:05 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/12 11:43:05 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/12 11:43:05 INFO: [Worker 0] Worker 0 completed house 1: 16/16 successful episodes [pipeline.py: 1323] +05/12 11:43:05 INFO: [Worker 0] [PROFILE] House 1 complete: 16/16 successful, 16 episodes, total_time=6023.77s + House averages: + episode_total: mean=186.81s, total=3362.60s, count=18, min=110427.6ms, max=235364.6ms + sensor_polling: mean=430.7ms, total=2255.67s, count=5237, min=385.9ms, max=1043.9ms + save_trajectories: mean=11.02s, total=176.28s, count=16, min=9361.5ms, max=12147.1ms + physics_step: mean=24.6ms, total=128.72s, count=5237, min=15.1ms, max=77.7ms + save_batch_prep: mean=4.41s, total=70.55s, count=16, min=3925.1ms, max=5732.9ms + task_sampling: mean=714.0ms, total=12.85s, count=18, min=426.6ms, max=3883.4ms + task_specific_sample: mean=532.8ms, total=9.59s, count=18, min=422.5ms, max=711.2ms + scene_load: mean=3.18s, total=3.18s, count=1, min=3184.0ms, max=3184.0ms + scene_env_create: mean=2.02s, total=2.02s, count=1, min=2024.0ms, max=2024.0ms + scene_compile: mean=991.4ms, total=991.4ms, count=1, min=991.4ms, max=991.4ms + compile_mujoco: mean=706.9ms, total=706.9ms, count=1, min=706.9ms, max=706.9ms + compile_xml_load: mean=191.4ms, total=191.4ms, count=1, min=191.4ms, max=191.4ms + scene_init: mean=117.0ms, total=117.0ms, count=1, min=117.0ms, max=117.0ms + compile_aux_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms + compile_aux_policy_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms + scene_asset_install: mean=51.1ms, total=51.1ms, count=1, min=51.1ms, max=51.1ms + scene_randomize: mean=2.7ms, total=48.1ms, count=18, min=1.2ms, max=3.4ms + asset_install_grasps: mean=36.8ms, total=36.8ms, count=1, min=36.8ms, max=36.8ms + compile_robot_add: mean=26.2ms, total=26.2ms, count=1, min=26.2ms, max=26.2ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + mj_forward_sync: mean=498.7us, total=9.0ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + policy_setup: mean=25.2us, total=0.5ms, 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 11:43:05 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 11:43:05 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=6023.77s + Worker averages: + episode_total: mean=186.81s, total=3362.60s, count=18, min=110427.6ms, max=235364.6ms + sensor_polling: mean=430.7ms, total=2255.67s, count=5237, min=385.9ms, max=1043.9ms + save_trajectories: mean=11.02s, total=176.28s, count=16, min=9361.5ms, max=12147.1ms + physics_step: mean=24.6ms, total=128.72s, count=5237, min=15.1ms, max=77.7ms + save_batch_prep: mean=4.41s, total=70.55s, count=16, min=3925.1ms, max=5732.9ms + task_sampling: mean=714.0ms, total=12.85s, count=18, min=426.6ms, max=3883.4ms + task_specific_sample: mean=532.8ms, total=9.59s, count=18, min=422.5ms, max=711.2ms + scene_load: mean=3.18s, total=3.18s, count=1, min=3184.0ms, max=3184.0ms + scene_env_create: mean=2.02s, total=2.02s, count=1, min=2024.0ms, max=2024.0ms + scene_compile: mean=991.4ms, total=991.4ms, count=1, min=991.4ms, max=991.4ms + compile_mujoco: mean=706.9ms, total=706.9ms, count=1, min=706.9ms, max=706.9ms + compile_xml_load: mean=191.4ms, total=191.4ms, count=1, min=191.4ms, max=191.4ms + scene_init: mean=117.0ms, total=117.0ms, count=1, min=117.0ms, max=117.0ms + compile_aux_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms + compile_aux_policy_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms + scene_asset_install: mean=51.1ms, total=51.1ms, count=1, min=51.1ms, max=51.1ms + scene_randomize: mean=2.7ms, total=48.1ms, count=18, min=1.2ms, max=3.4ms + asset_install_grasps: mean=36.8ms, total=36.8ms, count=1, min=36.8ms, max=36.8ms + compile_robot_add: mean=26.2ms, total=26.2ms, count=1, min=26.2ms, max=26.2ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + mj_forward_sync: mean=498.7us, total=9.0ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + policy_setup: mean=25.2us, total=0.5ms, 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 11:43:08 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 11:43:08 INFO: Success count: 16, Total count: 16 [pipeline.py: 1491] +05/12 11:43:08 INFO: Success rate: 100.00% [pipeline.py: 1492] diff --git a/fridge_m_0.7_pd/chunk_012/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_012/trajectories_batch_1_of_4_cam_rand.h5 index 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'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_013'), + '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': 51302, + '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 11:44:36 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 11:44:36 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 11:44:36 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 11:44:37 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 11:44:37 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 11:44:37 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 11:44:37 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_013'), + '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': 51304, + '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 11:44:37 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 11:44:37 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 11:44:37 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 11:44:37 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 11:44:37 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 11:44:37 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 11:44:37 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_013'), + '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': 51301, + '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 11:44:37 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 11:44:37 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 11:44:37 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 11:44:37 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 11:44:37 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 11:44:37 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 11:44:37 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_013'), + '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': 51303, + '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 11:44:37 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 11:44:37 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 11:44:37 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 11:44:37 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 11:44:37 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 11:44:37 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 11:44:37 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 11:44:41 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 11:44:41 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 11:44:41 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 11:44:41 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 11:44:41 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 11:44:41 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 11:44:41 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 11:44:41 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 11:44:41 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 11:44:41 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 11:44:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:44:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:44:41 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:44:41 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 11:44:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:44:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:44:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:44:41 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 11:44:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:44:41 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 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077426m [env.py: 870] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:44:41 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 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:44:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:44:41 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 11:44:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:44:41 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 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060211m [env.py: 870] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:44:41 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 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:44:41 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 11:44:41 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 11:44:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:44:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:44:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:44:41 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 11:44:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:44:41 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 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084282m [env.py: 870] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:44:41 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 11:44:41 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 11:44:41 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 11:44:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:44:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68059601 0.45154036 0.07742637] yaw=204.1deg [env.py: 1019] +05/12 11:44:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:44:41 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 11:44:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:44:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075796m [env.py: 870] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:44:41 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 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67010104 0.22970818 0.06021053] yaw=206.1deg [env.py: 1019] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94301683 0.77266239 0.07742637] yaw=-128.4deg [env.py: 1019] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87058377 0.09703067 0.06021053] yaw=183.7deg [env.py: 1019] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77638264 0.83712077 0.07742637] yaw=-152.1deg [env.py: 1019] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:44:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=21.2ms, retries=313.9ms, total=335.1ms [env.py: 1075] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.681, 0.452, 0.077) [env.py: 1079] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 204.1 deg [env.py: 1082] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6488498 0.43630433 0.06021053] yaw=186.6deg [env.py: 1019] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:44:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=21.7ms, retries=399.7ms, total=421.4ms [env.py: 1075] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.670, 0.230, 0.060) [env.py: 1079] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 206.1 deg [env.py: 1082] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00259908 1.27279515 0.08428152] yaw=-150.2deg [env.py: 1019] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85416059 0.37589855 0.07579633] yaw=171.5deg [env.py: 1019] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64543333 0.4480793 0.07579633] yaw=204.6deg [env.py: 1019] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93940655 0.68724387 0.07579633] yaw=-167.2deg [env.py: 1019] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:44:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=106.7ms, retries=321.9ms, total=428.5ms [env.py: 1075] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.854, 0.376, 0.076) [env.py: 1079] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.5 deg [env.py: 1082] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m [env.py: 1086] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:44:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:44:41 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 11:44:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:44:41 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 11:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74399135 0.05587179 0.08428152] yaw=164.5deg [env.py: 1019] +05/12 11:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:44:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=56.0ms, retries=800.1ms, total=856.1ms [env.py: 1075] +05/12 11:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.003, 1.273, 0.084) [env.py: 1079] +05/12 11:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.2 deg [env.py: 1082] +05/12 11:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m [env.py: 1086] +05/12 11:44:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:44:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:44:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:44:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:44:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:44:42 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 11:44:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:44:42 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 11:45:15 INFO: [Worker 0] Warmed up parallel IK solver in 33.531s [base_object_manipulation_planner_policy.py: 377] +05/12 11:45:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:45:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:45:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:45:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.979s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:45:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.615[m] 85.501[deg] [grasp_sample.py: 539] +05/12 11:45:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:45:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:45:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:45:17 INFO: [Worker 0] Warmed up parallel IK solver in 34.809s [base_object_manipulation_planner_policy.py: 377] +05/12 11:45:17 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 11:45:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:45:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:45:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:45:17 INFO: [Worker 0] Warmed up parallel IK solver in 35.645s [base_object_manipulation_planner_policy.py: 377] +05/12 11:45:17 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 11:45:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:45:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:45:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.961s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:45:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.405[m] 86.191[deg] [grasp_sample.py: 539] +05/12 11:45:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:45:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:45:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:45:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:45:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.628s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:45:19 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:45:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:45:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:45:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:45:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:45:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:45:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:45:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:45:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:45:21 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 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047473m [env.py: 870] +05/12 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:45:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79907145 0.91419911 0.0474725 ] yaw=-176.1deg [env.py: 1019] +05/12 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 128.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.973155 0.75111481 0.0474725 ] yaw=-154.4deg [env.py: 1019] +05/12 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88987874 1.10656872 0.0474725 ] yaw=-132.2deg [env.py: 1019] +05/12 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:45:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.1ms, total=188.1ms [env.py: 1075] +05/12 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.799, 0.914, 0.047) [env.py: 1079] +05/12 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.1 deg [env.py: 1082] +05/12 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/12 11:45:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:45:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:45:21 INFO: [Worker 0] Warmed up parallel IK solver in 39.921s [base_object_manipulation_planner_policy.py: 377] +05/12 11:45:21 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 11:45:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:45:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:45:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:45:21 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 11:45:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 11:45:22 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 11:45:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:45:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:45:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.850s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:45:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.737[m] 77.953[deg] [grasp_sample.py: 539] +05/12 11:45:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.704s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:45:24 INFO: [Worker 0] Feasible grasp found 86 (originally 86): w/ 0.655[m] 87.315[deg] [grasp_sample.py: 539] +05/12 11:45:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:45:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:45:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:45:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:45:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:45:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:45:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:45:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:45:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:46:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:46:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:46:14 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 11:46:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:46:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:46:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:46:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:46:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:46:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:46:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:46:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:47:27 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:47:34 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:47:38 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:47:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 98.007s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:47:52 INFO: [Worker 0] Feasible grasp found 6 (originally 6): w/ 0.277[m] 179.595[deg] [grasp_sample.py: 539] +05/12 11:47:53 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:47:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:47:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:47:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:47:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:47:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:47:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:47:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:47:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:47:55 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 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022329m [env.py: 870] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:47:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97159727 0.7378537 0.02232932] yaw=-156.9deg [env.py: 1019] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96391574 1.09091055 0.02232932] yaw=-164.2deg [env.py: 1019] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88534618 0.45897427 0.02232932] yaw=184.8deg [env.py: 1019] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:47:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=280.6ms, total=280.6ms [env.py: 1075] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.738, 0.022) [env.py: 1079] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.9 deg [env.py: 1082] +05/12 11:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m [env.py: 1086] +05/12 11:47:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:47:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:47:55 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 11:47:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:47:55 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:47:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:47:55 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 11:47:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/12 11:47:56 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 11:47:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:47:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:47:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.825s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:47:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.303[m] 77.716[deg] [grasp_sample.py: 539] +05/12 11:47:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:47:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:47:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:48:02 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 11:48:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:48:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:48:05 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 11:48:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:48:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:48:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:48:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 11:48:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 16.31s (batch: 4.83s, save: 11.49s) [pipeline.py: 300] +05/12 11:48:12 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.80s: + episode_total: mean=215.58s, total=215.58s, count=1, min=215580.6ms, max=215580.6ms + sensor_polling: mean=385.8ms, total=115.73s, count=300, min=371.3ms, max=671.9ms + save_trajectories: mean=11.49s, total=11.49s, count=1, min=11485.6ms, max=11485.6ms + physics_step: mean=24.4ms, total=7.33s, count=300, min=18.7ms, max=36.8ms + save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4825.8ms, max=4825.8ms + task_sampling: mean=4.80s, total=4.80s, count=1, min=4804.0ms, max=4804.0ms + scene_load: mean=3.97s, total=3.97s, count=1, min=3971.2ms, max=3971.2ms + scene_env_create: mean=2.54s, total=2.54s, count=1, min=2541.8ms, max=2541.8ms + scene_compile: mean=1.16s, total=1.16s, count=1, min=1162.2ms, max=1162.2ms + compile_mujoco: mean=902.0ms, total=902.0ms, count=1, min=902.0ms, max=902.0ms + task_specific_sample: mean=829.2ms, total=829.2ms, count=1, min=829.2ms, max=829.2ms + scene_init: mean=213.1ms, total=213.1ms, count=1, min=213.1ms, max=213.1ms + compile_xml_load: mean=185.9ms, total=185.9ms, count=1, min=185.9ms, max=185.9ms + compile_aux_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + compile_aux_policy_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + scene_asset_install: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + asset_install_grasps: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms + asset_install_objects: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms + compile_robot_add: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms + mj_forward_sync: mean=609.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=48.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:48:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:48:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:48:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:48:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:48:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:48:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:48:14 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 11:48:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:48:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012477m [env.py: 870] +05/12 11:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:48:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64627099 0.52270857 0.01247719] yaw=-201.0deg [env.py: 1019] +05/12 11:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86267219 0.47878309 0.01247719] yaw=191.3deg [env.py: 1019] +05/12 11:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:48:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=193.7ms, total=193.8ms [env.py: 1075] +05/12 11:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.646, 0.523, 0.012) [env.py: 1079] +05/12 11:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -201.0 deg [env.py: 1082] +05/12 11:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/12 11:48:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:48:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:48:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:48:14 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 11:48:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/12 11:48:14 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 11:48:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:48:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:48:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.144s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:48:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.673[m] 90.097[deg] [grasp_sample.py: 539] +05/12 11:48:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:48:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:48:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:48:16 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 11:48:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:48:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 11:48:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.66s (batch: 4.10s, save: 11.56s) [pipeline.py: 300] +05/12 11:48:19 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=5.71s: + episode_total: mean=110.17s, total=220.33s, count=2, min=42786.7ms, max=177544.2ms + sensor_polling: mean=401.1ms, total=120.32s, count=300, min=385.2ms, max=696.9ms + save_trajectories: mean=11.56s, total=11.56s, count=1, min=11561.7ms, max=11561.7ms + physics_step: mean=23.7ms, total=7.12s, count=300, min=17.6ms, max=35.5ms + task_sampling: mean=2.86s, total=5.71s, count=2, min=475.3ms, max=5236.0ms + save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4095.1ms, max=4095.1ms + scene_load: mean=4.04s, total=4.04s, count=1, min=4042.6ms, max=4042.6ms + scene_env_create: mean=2.52s, total=2.52s, count=1, min=2522.5ms, max=2522.5ms + task_specific_sample: mean=830.3ms, total=1.66s, count=2, min=470.8ms, max=1189.9ms + scene_compile: mean=1.31s, total=1.31s, count=1, min=1314.4ms, max=1314.4ms + compile_mujoco: mean=940.9ms, total=940.9ms, count=1, min=940.9ms, max=940.9ms + compile_xml_load: mean=281.8ms, total=281.8ms, count=1, min=281.8ms, max=281.8ms + scene_init: mean=145.4ms, total=145.4ms, count=1, min=145.4ms, max=145.4ms + scene_asset_install: mean=59.9ms, total=59.9ms, count=1, min=59.9ms, max=59.9ms + compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + asset_install_grasps: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms + compile_robot_add: mean=24.4ms, total=24.4ms, count=1, min=24.4ms, max=24.4ms + asset_install_objects: mean=12.7ms, total=12.7ms, count=1, min=12.7ms, max=12.7ms + scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.5ms, max=2.8ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + mj_forward_sync: mean=627.4us, total=1.3ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=36.8us, 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 11:48:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:48:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:48:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:48:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:48:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:48:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:48:20 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 11:48:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:48:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021026m [env.py: 870] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:48:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70248958 0.43097802 0.02102641] yaw=212.3deg [env.py: 1019] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.71395682 0.63797707 0.02102641] yaw=-175.8deg [env.py: 1019] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87846106 0.67681465 0.02102641] yaw=-128.6deg [env.py: 1019] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:48:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.0ms, total=179.0ms [env.py: 1075] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.702, 0.431, 0.021) [env.py: 1079] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 212.3 deg [env.py: 1082] +05/12 11:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/12 11:48:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:48:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:48:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:48:20 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 11:48:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/12 11:48:20 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 11:48:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:48:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:48:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:48:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:48:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 11:48:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.51s (batch: 4.31s, save: 11.20s) [pipeline.py: 300] +05/12 11:48:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.090s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:48:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.661[m] 86.667[deg] [grasp_sample.py: 539] +05/12 11:48:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:48:22 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.95s: + episode_total: mean=225.31s, total=225.31s, count=1, min=225312.1ms, max=225312.1ms + sensor_polling: mean=414.5ms, total=124.34s, count=300, min=396.3ms, max=705.8ms + save_trajectories: mean=11.20s, total=11.20s, count=1, min=11195.2ms, max=11195.2ms + physics_step: mean=22.8ms, total=6.84s, count=300, min=18.9ms, max=31.7ms + task_sampling: mean=4.95s, total=4.95s, count=1, min=4946.6ms, max=4946.6ms + save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4312.1ms, max=4312.1ms + scene_load: mean=4.17s, total=4.17s, count=1, min=4170.1ms, max=4170.1ms + scene_env_create: mean=2.40s, total=2.40s, count=1, min=2402.0ms, max=2402.0ms + scene_compile: mean=1.59s, total=1.59s, count=1, min=1585.4ms, max=1585.4ms + compile_mujoco: mean=955.7ms, total=955.7ms, count=1, min=955.7ms, max=955.7ms + task_specific_sample: mean=773.0ms, total=773.0ms, count=1, min=773.0ms, max=773.0ms + compile_xml_load: mean=515.1ms, total=515.1ms, count=1, min=515.1ms, max=515.1ms + scene_init: mean=118.4ms, total=118.4ms, count=1, min=118.4ms, max=118.4ms + compile_aux_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms + compile_aux_policy_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms + scene_asset_install: mean=64.0ms, total=64.0ms, count=1, min=64.0ms, max=64.0ms + asset_install_grasps: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms + compile_robot_add: mean=24.3ms, total=24.3ms, count=1, min=24.3ms, max=24.3ms + asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=451.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=47.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:48:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:48:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:48:22 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 11:48:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:48:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:48:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:48:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:48:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:48:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:48:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:48:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:48:23 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 11:48:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:48:23 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 11:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021821m [env.py: 870] +05/12 11:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:48:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14791284 1.00282938 0.0218214 ] yaw=-148.9deg [env.py: 1019] +05/12 11:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07814287 0.99096072 0.0218214 ] yaw=-165.2deg [env.py: 1019] +05/12 11:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:48:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.7ms, total=213.7ms [env.py: 1075] +05/12 11:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.148, 1.003, 0.022) [env.py: 1079] +05/12 11:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.9 deg [env.py: 1082] +05/12 11:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.761m [env.py: 1086] +05/12 11:48:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:48:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:48:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:48:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:48:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:48:24 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 11:48:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/12 11:48:24 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 11:48:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:48:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:48:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.870s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:48:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.374[m] 95.763[deg] [grasp_sample.py: 539] +05/12 11:48:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:48:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:48:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:48:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:48:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:48:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:49:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:49:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:49:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:49:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:49:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:49:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:49:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:49:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:49:58 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:50:21 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:50:24 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 11:50:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:50:24 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 11:50:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:50:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:50:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:50:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:50:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:50:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:50:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 11:50:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.72s (batch: 3.95s, save: 10.77s) [pipeline.py: 300] +05/12 11:50:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:50:39 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=5.42s: + episode_total: mean=180.36s, total=360.71s, count=2, min=164280.6ms, max=196432.8ms + sensor_polling: mean=394.4ms, total=153.41s, count=389, min=371.3ms, max=760.6ms + save_trajectories: mean=10.77s, total=10.77s, count=1, min=10772.5ms, max=10772.5ms + physics_step: mean=23.8ms, total=9.25s, count=389, min=17.0ms, max=110.6ms + task_sampling: mean=2.71s, total=5.42s, count=2, min=554.4ms, max=4861.2ms + scene_load: mean=4.08s, total=4.08s, count=1, min=4077.1ms, max=4077.1ms + save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3946.4ms, max=3946.4ms + scene_env_create: mean=2.54s, total=2.54s, count=1, min=2542.8ms, max=2542.8ms + scene_compile: mean=1.36s, total=1.36s, count=1, min=1360.0ms, max=1360.0ms + task_specific_sample: mean=665.7ms, total=1.33s, count=2, min=550.6ms, max=780.7ms + compile_mujoco: mean=835.7ms, total=835.7ms, count=1, min=835.7ms, max=835.7ms + compile_xml_load: mean=436.2ms, total=436.2ms, count=1, min=436.2ms, max=436.2ms + scene_init: mean=119.4ms, total=119.4ms, count=1, min=119.4ms, max=119.4ms + scene_asset_install: mean=54.4ms, total=54.4ms, count=1, min=54.4ms, max=54.4ms + compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + asset_install_grasps: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms + compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms + asset_install_objects: mean=11.9ms, total=11.9ms, count=1, min=11.9ms, max=11.9ms + scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.8ms, max=2.3ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + mj_forward_sync: mean=485.6us, total=1.0ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=42.5us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:50:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:50:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:50:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:50:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:50:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:50:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:50:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:50:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:50:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:50:41 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 11:50:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:50:41 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 11:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047691m [env.py: 870] +05/12 11:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:50:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93700457 0.69494073 0.04769057] yaw=-167.3deg [env.py: 1019] +05/12 11:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02585808 1.10132733 0.04769057] yaw=-129.9deg [env.py: 1019] +05/12 11:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08320863 1.06613063 0.04769057] yaw=-119.0deg [env.py: 1019] +05/12 11:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:50:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.7ms, total=159.7ms [env.py: 1075] +05/12 11:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.937, 0.695, 0.048) [env.py: 1079] +05/12 11:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.3 deg [env.py: 1082] +05/12 11:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m [env.py: 1086] +05/12 11:50:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:50:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:50:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:50:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:50:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:50:41 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 11:50:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/12 11:50:41 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 11:50:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:50:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:50:42 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:50:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:50:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:50:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:50:42 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 11:50:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:50:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 11:50:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.243s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:50:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.399[m] 94.652[deg] [grasp_sample.py: 539] +05/12 11:50:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:50:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:50:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:50:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:50:45 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.523s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:50:45 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.556[deg] [grasp_sample.py: 539] +05/12 11:50:46 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:50:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:50:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:50:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:50:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:50:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:50:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:50:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:50:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:50:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094006m [env.py: 870] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:50:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65016282 0.60244446 0.09400649] yaw=-164.4deg [env.py: 1019] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89970967 0.84663377 0.09400649] yaw=-185.5deg [env.py: 1019] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90062341 0.87560428 0.09400649] yaw=-126.6deg [env.py: 1019] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:50:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=235.2ms, total=235.2ms [env.py: 1075] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.650, 0.602, 0.094) [env.py: 1079] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.4 deg [env.py: 1082] +05/12 11:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 11:50:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:50:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:50:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:50:48 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 11:50:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 11:50:48 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 11:50:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:50:48 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 11:50:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:50:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:50:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:50:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.975s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:50:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.650[m] 93.397[deg] [grasp_sample.py: 539] +05/12 11:50:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:50:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:50:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:50:50 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 11:51:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:51:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 11:51:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.80s (batch: 4.32s, save: 11.48s) [pipeline.py: 300] +05/12 11:51:05 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.48s: + episode_total: mean=171.08s, total=171.08s, count=1, min=171080.8ms, max=171080.8ms + sensor_polling: mean=384.5ms, total=115.35s, count=300, min=366.5ms, max=728.0ms + save_trajectories: mean=11.48s, total=11.48s, count=1, min=11479.4ms, max=11479.4ms + physics_step: mean=23.6ms, total=7.07s, count=300, min=16.5ms, max=32.5ms + save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4316.3ms, max=4316.3ms + task_sampling: mean=478.8ms, total=478.8ms, count=1, min=478.8ms, max=478.8ms + task_specific_sample: mean=474.0ms, total=474.0ms, count=1, min=474.0ms, max=474.0ms + scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + mj_forward_sync: mean=451.0us, 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 11:51:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:51:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:51:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:51:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:51:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:51:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:51:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:51:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:51:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038042m [env.py: 870] +05/12 11:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:51:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9997297 1.21620119 0.03804177] yaw=-126.4deg [env.py: 1019] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02984674 0.94887104 0.03804177] yaw=-128.1deg [env.py: 1019] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93958803 0.50519849 0.03804177] yaw=-198.4deg [env.py: 1019] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:51:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.1ms, total=194.2ms [env.py: 1075] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.000, 1.216, 0.038) [env.py: 1079] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.4 deg [env.py: 1082] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/12 11:51:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:51:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:51:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:51:07 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 11:51:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/12 11:51:07 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 11:51:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:51:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:51:09 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 11:51:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:51:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:51:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.484s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:51:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.609[m] 94.477[deg] [grasp_sample.py: 539] +05/12 11:51:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:51:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:51:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:51:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:51:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:51:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 11:51:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.17s (batch: 4.20s, save: 10.97s) [pipeline.py: 300] +05/12 11:51:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:51:25 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.48s: + episode_total: mean=185.43s, total=185.43s, count=1, min=185429.9ms, max=185429.9ms + sensor_polling: mean=432.8ms, total=129.85s, count=300, min=391.1ms, max=802.3ms + save_trajectories: mean=10.97s, total=10.97s, count=1, min=10971.4ms, max=10971.4ms + physics_step: mean=24.7ms, total=7.41s, count=300, min=18.1ms, max=79.9ms + save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4201.0ms, max=4201.0ms + task_sampling: mean=475.4ms, total=475.4ms, count=1, min=475.4ms, max=475.4ms + task_specific_sample: mean=471.0ms, total=471.0ms, count=1, min=471.0ms, max=471.0ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=452.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.4us, 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 11:51:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:51:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:51:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:51:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:51:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:51:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:51:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004519m [env.py: 870] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:51:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88275248 0.0955591 0.00451879] yaw=187.7deg [env.py: 1019] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81761087 1.06857937 0.00451879] yaw=-164.7deg [env.py: 1019] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11596331 0.98034161 0.00451879] yaw=-155.4deg [env.py: 1019] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:51:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=269.6ms, total=269.6ms [env.py: 1075] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.883, 0.096, 0.005) [env.py: 1079] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.7 deg [env.py: 1082] +05/12 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/12 11:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:51:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:51:27 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 11:51:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 11:51:27 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 11:51:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:51:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:51:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.923s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:51:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.626[m] 95.755[deg] [grasp_sample.py: 539] +05/12 11:51:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:51:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:51:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:51:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:51:29 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 11:51:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:51:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:52:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:52:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:52:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:52:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:52:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:52:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:52:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:52:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:58 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:52:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:53:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:53:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:53:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:53:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:53:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:53:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 11:53:03 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.681s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:53:03 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.109[m] 0.229[deg] [grasp_sample.py: 539] +05/12 11:53:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:53:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:53:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:53:06 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:53:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:53:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:53:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:53:26 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 11:53:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:53:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:53:27 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 11:53:27 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.50s: + episode_total: mean=140.48s, total=140.48s, count=1, min=140482.7ms, max=140482.7ms + sensor_polling: mean=384.7ms, total=115.40s, count=300, min=361.6ms, max=741.5ms + physics_step: mean=22.8ms, total=6.85s, count=300, min=15.7ms, max=30.3ms + task_sampling: mean=495.4ms, total=495.4ms, count=1, min=495.4ms, max=495.4ms + task_specific_sample: mean=491.2ms, total=491.2ms, count=1, min=491.2ms, max=491.2ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=453.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.5us, 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 11:53:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:53:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:53:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:53:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:53:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:53:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:53:28 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 11:53:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:53:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018105m [env.py: 870] +05/12 11:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:53:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05125169 1.09189258 0.01810516] yaw=-123.8deg [env.py: 1019] +05/12 11:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94267373 0.33788414 0.01810516] yaw=196.3deg [env.py: 1019] +05/12 11:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:53:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=226.5ms, total=226.6ms [env.py: 1075] +05/12 11:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.051, 1.092, 0.018) [env.py: 1079] +05/12 11:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.8 deg [env.py: 1082] +05/12 11:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/12 11:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:53:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:53:29 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 11:53:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.153s [base_object_manipulation_planner_policy.py: 377] +05/12 11:53:29 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 11:53:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:53:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:53:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.759s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:53:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.446[m] 83.845[deg] [grasp_sample.py: 539] +05/12 11:53:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:53:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:53:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:53:33 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 11:53:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:53:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:53:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:53:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:53:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:53:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 11:53:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.89s (batch: 4.38s, save: 11.52s) [pipeline.py: 300] +05/12 11:53:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:53:43 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.45s: + episode_total: mean=182.15s, total=182.15s, count=1, min=182150.0ms, max=182150.0ms + sensor_polling: mean=412.5ms, total=123.76s, count=300, min=377.4ms, max=780.8ms + save_trajectories: mean=11.52s, total=11.52s, count=1, min=11515.1ms, max=11515.1ms + physics_step: mean=24.6ms, total=7.39s, count=300, min=17.3ms, max=53.0ms + save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4379.1ms, max=4379.1ms + task_sampling: mean=447.5ms, total=447.5ms, count=1, min=447.5ms, max=447.5ms + task_specific_sample: mean=442.5ms, total=442.5ms, count=1, min=442.5ms, max=442.5ms + scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + mj_forward_sync: mean=469.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:53:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:53:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:53:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:53:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:53:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:53:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:53:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:53:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:53:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:53:44 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 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058887m [env.py: 870] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:53:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72007959 0.02894248 0.05888659] yaw=141.2deg [env.py: 1019] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.63810356 0.5506977 0.05888659] yaw=-176.6deg [env.py: 1019] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.63465074 0.38266912 0.05888659] yaw=186.3deg [env.py: 1019] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:53:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=280.4ms, total=280.5ms [env.py: 1075] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.720, 0.029, 0.059) [env.py: 1079] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.2 deg [env.py: 1082] +05/12 11:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 11:53:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:53:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:53:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:53:45 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 11:53:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/12 11:53:45 INFO: [Worker 0] Loading grasps 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 11:53:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:53:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:53:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:53:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 11:53:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.44s (batch: 4.05s, save: 10.39s) [pipeline.py: 300] +05/12 11:53:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.708s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:53:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.631[m] 87.907[deg] [grasp_sample.py: 539] +05/12 11:53:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:53:48 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.00s: + episode_total: mean=161.62s, total=323.23s, count=2, min=142840.8ms, max=180391.9ms + sensor_polling: mean=427.8ms, total=244.25s, count=571, min=395.5ms, max=869.5ms + physics_step: mean=24.0ms, total=13.68s, count=571, min=17.5ms, max=34.3ms + save_trajectories: mean=10.39s, total=10.39s, count=1, min=10390.0ms, max=10390.0ms + save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4047.7ms, max=4047.7ms + task_sampling: mean=499.5ms, total=999.1ms, count=2, min=497.0ms, max=502.1ms + task_specific_sample: mean=495.6ms, total=991.2ms, count=2, min=493.2ms, max=497.9ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.9ms, max=2.7ms + mj_forward_sync: mean=460.0us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=22.6us, 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 11:53:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:53:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:53:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:53:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:53:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:53:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:53:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:53:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:53:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:53:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:53:49 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 11:53:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:53:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079373m [env.py: 870] +05/12 11:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:53:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91541478 0.24056889 0.07937261] yaw=136.6deg [env.py: 1019] +05/12 11:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78608571 0.83949931 0.07937261] yaw=-131.5deg [env.py: 1019] +05/12 11:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80059384 0.35995203 0.07937261] yaw=172.7deg [env.py: 1019] +05/12 11:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:53:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.4ms, total=175.5ms [env.py: 1075] +05/12 11:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.241, 0.079) [env.py: 1079] +05/12 11:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 136.6 deg [env.py: 1082] +05/12 11:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m [env.py: 1086] +05/12 11:53:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:53:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:53:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:53:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:53:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:53:50 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 11:53:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/12 11:53:50 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 11:53:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:53:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:53:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.959s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:53:51 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.459[m] 93.952[deg] [grasp_sample.py: 539] +05/12 11:53:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:53:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:53:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:53:52 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 11:54:01 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:54:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:54:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:54:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:54:28 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 11:54:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:54:28 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:54:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:54:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:54:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:54:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:54:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 11:54:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 16.01s (batch: 4.75s, save: 11.27s) [pipeline.py: 300] +05/12 11:54:45 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.58s: + episode_total: mean=198.08s, total=198.08s, count=1, min=198079.3ms, max=198079.3ms + sensor_polling: mean=427.8ms, total=128.33s, count=300, min=390.1ms, max=840.1ms + save_trajectories: mean=11.27s, total=11.27s, count=1, min=11267.8ms, max=11267.8ms + physics_step: mean=24.0ms, total=7.21s, count=300, min=17.2ms, max=43.2ms + save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4745.8ms, max=4745.8ms + task_sampling: mean=582.2ms, total=582.2ms, count=1, min=582.2ms, max=582.2ms + task_specific_sample: mean=578.0ms, total=578.0ms, count=1, min=578.0ms, max=578.0ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=465.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.6us, 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 11:54:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:54:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:54:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:54:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:54:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:54:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:54:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:54:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:54:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:54:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:54:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:54:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042971m [env.py: 870] +05/12 11:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:54:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88025723 0.11496622 0.04297115] yaw=185.7deg [env.py: 1019] +05/12 11:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94063225 0.84149278 0.04297115] yaw=-180.4deg [env.py: 1019] +05/12 11:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94986712 0.18033966 0.04297115] yaw=140.3deg [env.py: 1019] +05/12 11:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:54:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=122.6ms, total=122.7ms [env.py: 1075] +05/12 11:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.115, 0.043) [env.py: 1079] +05/12 11:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.7 deg [env.py: 1082] +05/12 11:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/12 11:54:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:54:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:54:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:54:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:54:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:54:47 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 11:54:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 11:54:47 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 11:54:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:54:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:54:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.842s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:54:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.525[m] 84.674[deg] [grasp_sample.py: 539] +05/12 11:54:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:54:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:54:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:54:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:54:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:54:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:55:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:55:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:55:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:55:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:55:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:55:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 11:55:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.760s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:55:37 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.512[deg] [grasp_sample.py: 539] +05/12 11:55:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:55:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:55:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:55:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:55:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:55:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:55:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:49 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:55:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:55:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:55:51 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 11:55:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:55:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 11:55:52 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.576s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:55:52 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.433[deg] [grasp_sample.py: 539] +05/12 11:55:53 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:55:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:55:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:55:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:55:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:55:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:55:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:55:55 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 11:55:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:55:55 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 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056874m [env.py: 870] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:55:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.1054043 1.01097055 0.05687436] yaw=-171.4deg [env.py: 1019] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7724124 0.93585329 0.05687436] yaw=-124.5deg [env.py: 1019] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.64862386 0.41852 0.05687436] yaw=208.4deg [env.py: 1019] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:55:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=496.3ms, total=496.3ms [env.py: 1075] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.105, 1.011, 0.057) [env.py: 1079] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.4 deg [env.py: 1082] +05/12 11:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.798m [env.py: 1086] +05/12 11:55:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:55:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:55:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:55:55 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 11:55:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 11:55:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:55:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:55:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:55:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.898s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:55:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.494[m] 93.069[deg] [grasp_sample.py: 539] +05/12 11:55:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:55:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:55:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:55:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:56:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:56:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:56:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:56:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:56:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:56:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:56:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:56:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:56:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:56:12 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 11:56:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:56:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 11:56:12 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.726s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:56:12 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.341[deg] [grasp_sample.py: 539] +05/12 11:56:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:56:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:56:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:56:14 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:56:18 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 11:56:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:56:18 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:56:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:56:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 11:56:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.52s (batch: 4.13s, save: 11.39s) [pipeline.py: 300] +05/12 11:56:34 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.70s: + episode_total: mean=185.50s, total=185.50s, count=1, min=185504.4ms, max=185504.4ms + sensor_polling: mean=384.3ms, total=115.30s, count=300, min=364.6ms, max=879.6ms + save_trajectories: mean=11.39s, total=11.39s, count=1, min=11388.4ms, max=11388.4ms + physics_step: mean=23.6ms, total=7.07s, count=300, min=21.4ms, max=36.7ms + save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4127.3ms, max=4127.3ms + task_sampling: mean=703.2ms, total=703.2ms, count=1, min=703.2ms, max=703.2ms + task_specific_sample: mean=699.0ms, total=699.0ms, count=1, min=699.0ms, max=699.0ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=443.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=39.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:56:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:56:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:56:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:56:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:56:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:56:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:56:35 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 11:56:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:56:35 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 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022275m [env.py: 870] +05/12 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:56:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97953571 1.30748151 0.02227505] yaw=-103.9deg [env.py: 1019] +05/12 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76132203 0.56904004 0.02227505] yaw=-184.6deg [env.py: 1019] +05/12 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93092232 0.27517166 0.02227505] yaw=183.4deg [env.py: 1019] +05/12 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:56:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.2ms, total=154.3ms [env.py: 1075] +05/12 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.980, 1.307, 0.022) [env.py: 1079] +05/12 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -103.9 deg [env.py: 1082] +05/12 11:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/12 11:56:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:56:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:56:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:56:36 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 11:56:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s [base_object_manipulation_planner_policy.py: 377] +05/12 11:56:36 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 11:56:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:56:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:56:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.629s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:56:39 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:56:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:56:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:56:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:56:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:56:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:56:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:56:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:56:40 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 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058720m [env.py: 870] +05/12 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:56:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96637359 1.24564841 0.0587196 ] yaw=-135.8deg [env.py: 1019] +05/12 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78450645 0.85553364 0.0587196 ] yaw=-167.6deg [env.py: 1019] +05/12 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:56:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=217.2ms, total=217.2ms [env.py: 1075] +05/12 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 1.246, 0.059) [env.py: 1079] +05/12 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.8 deg [env.py: 1082] +05/12 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m [env.py: 1086] +05/12 11:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:56:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:56:41 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 11:56:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 11:56:41 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 11:56:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:56:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:56:41 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 11:56:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:56:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:56:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.145s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:56:45 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.652[m] 78.974[deg] [grasp_sample.py: 539] +05/12 11:56:46 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:56:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:56:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:56:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:56:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:56:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:56:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:56:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:56:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:56:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070918m [env.py: 870] +05/12 11:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:56:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95354891 0.77077917 0.07091795] yaw=-187.3deg [env.py: 1019] +05/12 11:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9560966 0.72784091 0.07091795] yaw=-176.7deg [env.py: 1019] +05/12 11:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:56:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=493.5ms, total=493.6ms [env.py: 1075] +05/12 11:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.954, 0.771, 0.071) [env.py: 1079] +05/12 11:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -187.3 deg [env.py: 1082] +05/12 11:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m [env.py: 1086] +05/12 11:56:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:56:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:56:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:56:49 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 11:56:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/12 11:56:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:56:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:56:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:56:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:56:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.016s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:56:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.484[m] 88.749[deg] [grasp_sample.py: 539] +05/12 11:56:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:56:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:56:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:56:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:56:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:56:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 11:56:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 16.88s (batch: 5.85s, save: 11.04s) [pipeline.py: 300] +05/12 11:56:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:56:59 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.59s: + episode_total: mean=194.77s, total=194.77s, count=1, min=194773.4ms, max=194773.4ms + sensor_polling: mean=415.0ms, total=124.51s, count=300, min=369.2ms, max=835.0ms + save_trajectories: mean=11.04s, total=11.04s, count=1, min=11036.2ms, max=11036.2ms + physics_step: mean=25.3ms, total=7.59s, count=300, min=16.8ms, max=76.6ms + save_batch_prep: mean=5.85s, total=5.85s, count=1, min=5848.4ms, max=5848.4ms + task_sampling: mean=587.8ms, total=587.8ms, count=1, min=587.8ms, max=587.8ms + task_specific_sample: mean=583.6ms, total=583.6ms, count=1, min=583.6ms, max=583.6ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=452.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=25.7us, 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 11:57:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:57:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:57:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:57:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:57:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:57:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:57:00 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 11:57:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:57:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072526m [env.py: 870] +05/12 11:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:57:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:57:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9529826 0.57378273 0.07252571] yaw=-166.1deg [env.py: 1019] +05/12 11:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:57:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=195.4ms, total=195.5ms [env.py: 1075] +05/12 11:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.574, 0.073) [env.py: 1079] +05/12 11:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.1 deg [env.py: 1082] +05/12 11:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.755m [env.py: 1086] +05/12 11:57:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:57:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:57:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:57:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:57:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:57:01 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 11:57:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 11:57:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:57:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:57:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:57:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.852s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:57:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.278[m] 77.837[deg] [grasp_sample.py: 539] +05/12 11:57:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:57:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:57:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:57:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:57:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:57:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:57:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:57:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:57:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:57:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:57:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:57:11 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 11:57:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:57:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 11:57:13 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.958s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:57:13 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 1.525[deg] [grasp_sample.py: 539] +05/12 11:57:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:57:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:57:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:57:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:57:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:57:26 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:57:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:57:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:57:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:57:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:57:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:57:54 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 11:57:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:57:54 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:58:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:58:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:58:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:58:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 11:58:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.47s (batch: 4.33s, save: 11.13s) [pipeline.py: 300] +05/12 11:58:10 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.44s: + episode_total: mean=204.01s, total=204.01s, count=1, min=204014.1ms, max=204014.1ms + sensor_polling: mean=422.2ms, total=126.65s, count=300, min=392.6ms, max=818.9ms + save_trajectories: mean=11.13s, total=11.13s, count=1, min=11134.0ms, max=11134.0ms + physics_step: mean=23.9ms, total=7.16s, count=300, min=17.2ms, max=46.7ms + save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4334.9ms, max=4334.9ms + task_sampling: mean=436.2ms, total=436.2ms, count=1, min=436.2ms, max=436.2ms + task_specific_sample: mean=431.9ms, total=431.9ms, count=1, min=431.9ms, max=431.9ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=457.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.5us, 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 11:58:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:58:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:58:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:58:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:58:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:58:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:58:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:58:12 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 11:58:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:58:12 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 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047970m [env.py: 870] +05/12 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:58:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01931245 1.02192023 0.04796975] yaw=-119.0deg [env.py: 1019] +05/12 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76767665 0.57316375 0.04796975] yaw=-143.5deg [env.py: 1019] +05/12 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.71218346 0.77349074 0.04796975] yaw=-179.1deg [env.py: 1019] +05/12 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:58:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.2ms, total=183.2ms [env.py: 1075] +05/12 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.019, 1.022, 0.048) [env.py: 1079] +05/12 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.0 deg [env.py: 1082] +05/12 11:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/12 11:58:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:58:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:58:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:58:12 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 11:58:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 11:58:12 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 11:58:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:58:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:58:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:58:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.262s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:58:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.443[m] 87.539[deg] [grasp_sample.py: 539] +05/12 11:58:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:58:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:58:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:58:14 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 11:58:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:58:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:58:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:58:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:58:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:58:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:58:20 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 11:58:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:58:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 11:58:22 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.566s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:58:22 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.930[deg] [grasp_sample.py: 539] +05/12 11:58:23 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:58:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:58:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:58:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:58:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:58:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:58:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:58:25 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 11:58:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:58:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036129m [env.py: 870] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:58:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91567258 1.03190116 0.03612882] yaw=-153.0deg [env.py: 1019] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00199042 1.14417701 0.03612882] yaw=-127.6deg [env.py: 1019] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.01158573 1.11926187 0.03612882] yaw=-102.9deg [env.py: 1019] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:58:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=404.0ms, total=404.1ms [env.py: 1075] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.916, 1.032, 0.036) [env.py: 1079] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.0 deg [env.py: 1082] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/12 11:58:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:58:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:58:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:58:26 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 11:58:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 11:58:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:58:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:58:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:58:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.596s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:58:28 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.522[m] 78.655[deg] [grasp_sample.py: 539] +05/12 11:58:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:58:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:58:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:58:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:58:57 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:59:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:59:03 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:59:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:59:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:59:24 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 11:59:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:59:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:59:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:59:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:59:30 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 11:59:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:59:30 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 11:59:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:59:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 11:59:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.49s (batch: 3.75s, save: 11.74s) [pipeline.py: 300] +05/12 11:59:40 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.72s: + episode_total: mean=60.63s, total=181.90s, count=3, min=3282.5ms, max=172458.4ms + sensor_polling: mean=390.3ms, total=117.09s, count=300, min=370.0ms, max=926.4ms + save_trajectories: mean=11.74s, total=11.74s, count=1, min=11739.8ms, max=11739.8ms + physics_step: mean=23.7ms, total=7.11s, count=300, min=17.0ms, max=32.1ms + save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3752.7ms, max=3752.7ms + task_sampling: mean=574.9ms, total=1.72s, count=3, min=438.9ms, max=776.7ms + task_specific_sample: mean=570.6ms, total=1.71s, count=3, min=434.9ms, max=773.0ms + scene_randomize: mean=2.6ms, total=7.9ms, count=3, min=2.3ms, max=3.0ms + mj_forward_sync: mean=538.5us, total=1.6ms, count=3, min=0.4ms, max=0.7ms + policy_setup: mean=19.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:59:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:59:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:59:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:59:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:59:42 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 11:59:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:59:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096575m [env.py: 870] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:59:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84536995 0.6840803 0.09657478] yaw=-169.2deg [env.py: 1019] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.70528311 0.52242819 0.09657478] yaw=-158.7deg [env.py: 1019] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:59:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=295.8ms, total=295.8ms [env.py: 1075] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.845, 0.684, 0.097) [env.py: 1079] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.2 deg [env.py: 1082] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m [env.py: 1086] +05/12 11:59:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:59:42 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 11:59:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 11:59:42 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 11:59:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:59:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:59:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.850s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:59:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.444[m] 89.361[deg] [grasp_sample.py: 539] +05/12 11:59:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:59:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:59:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:59:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:59:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 11:59:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.54s (batch: 3.92s, save: 10.61s) [pipeline.py: 300] +05/12 11:59:45 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.50s: + episode_total: mean=164.40s, total=164.40s, count=1, min=164397.3ms, max=164397.3ms + sensor_polling: mean=400.8ms, total=110.62s, count=276, min=368.2ms, max=852.5ms + save_trajectories: mean=10.61s, total=10.61s, count=1, min=10613.7ms, max=10613.7ms + physics_step: mean=24.4ms, total=6.74s, count=276, min=17.2ms, max=57.0ms + save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3923.7ms, max=3923.7ms + task_sampling: mean=504.7ms, total=504.7ms, count=1, min=504.7ms, max=504.7ms + task_specific_sample: mean=500.1ms, total=500.1ms, count=1, min=500.1ms, max=500.1ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=453.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=47.5us, 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 11:59:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:59:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:59:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:59:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:59:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:59:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075418m [env.py: 870] +05/12 11:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:59:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94675291 1.00468813 0.07541827] yaw=-172.5deg [env.py: 1019] +05/12 11:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.613876 0.32467304 0.07541827] yaw=180.8deg [env.py: 1019] +05/12 11:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8856561 0.26763812 0.07541827] yaw=165.2deg [env.py: 1019] +05/12 11:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:59:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.7ms, total=147.7ms [env.py: 1075] +05/12 11:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.947, 1.005, 0.075) [env.py: 1079] +05/12 11:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.5 deg [env.py: 1082] +05/12 11:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/12 11:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:59:47 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 11:59:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 11:59:47 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 11:59:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:59:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:59:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.486s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:59:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.566[m] 79.900[deg] [grasp_sample.py: 539] +05/12 11:59:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:59:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:59:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:00:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:00:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:00:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:00:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:00:33 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:00:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:00:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:00:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:00:54 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:01:01 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:01:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:01:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:01:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:01:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:01:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 16.20s (batch: 4.56s, save: 11.64s) [pipeline.py: 300] +05/12 12:01:18 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.50s: + episode_total: mean=186.10s, total=186.10s, count=1, min=186101.1ms, max=186101.1ms + sensor_polling: mean=426.4ms, total=127.91s, count=300, min=389.9ms, max=818.6ms + save_trajectories: mean=11.64s, total=11.64s, count=1, min=11640.4ms, max=11640.4ms + physics_step: mean=26.1ms, total=7.82s, count=300, min=21.4ms, max=83.6ms + save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4562.2ms, max=4562.2ms + task_sampling: mean=499.2ms, total=499.2ms, count=1, min=499.2ms, max=499.2ms + task_specific_sample: mean=494.9ms, total=494.9ms, count=1, min=494.9ms, max=494.9ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=468.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=30.3us, 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 12:01:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:01:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:01:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:01:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:01:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:01:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:01:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:01:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:01:19 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 12:01:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:01:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000594m [env.py: 870] +05/12 12:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:01:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-6.85968182e-01 6.68148665e-01 5.93858077e-04] yaw=-142.4deg [env.py: 1019] +05/12 12:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:01:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=226.6ms, total=226.6ms [env.py: 1075] +05/12 12:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.686, 0.668, 0.001) [env.py: 1079] +05/12 12:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.4 deg [env.py: 1082] +05/12 12:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/12 12:01:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:01:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:01:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:01:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:01:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:01:20 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 12:01:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 12:01:20 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 12:01:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:01:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:01:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.250s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:01:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.684[m] 97.389[deg] [grasp_sample.py: 539] +05/12 12:01:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:01:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:01:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:01:22 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 12:01:23 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:01:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:01:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:01:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:01:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:01:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 17.01s (batch: 4.38s, save: 12.63s) [pipeline.py: 300] +05/12 12:01:41 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.92s: + episode_total: mean=156.09s, total=468.26s, count=3, min=123588.0ms, max=195719.6ms + sensor_polling: mean=446.4ms, total=356.20s, count=798, min=394.1ms, max=1063.8ms + physics_step: mean=25.4ms, total=20.24s, count=798, min=17.0ms, max=59.8ms + save_trajectories: mean=12.63s, total=12.63s, count=1, min=12630.3ms, max=12630.3ms + save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4384.0ms, max=4384.0ms + task_sampling: mean=641.5ms, total=1.92s, count=3, min=481.6ms, max=754.8ms + task_specific_sample: mean=637.6ms, total=1.91s, count=3, min=477.7ms, max=751.5ms + scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.3ms, max=2.6ms + mj_forward_sync: mean=453.2us, total=1.4ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=23.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:01:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:01:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:01:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:01:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:01:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:01:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:01:42 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 12:01:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:01:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093830m [env.py: 870] +05/12 12:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:01:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7054355 0.44942423 0.09382973] yaw=169.1deg [env.py: 1019] +05/12 12:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05653421 0.94893708 0.09382973] yaw=-145.1deg [env.py: 1019] +05/12 12:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74834989 0.04004249 0.09382973] yaw=141.6deg [env.py: 1019] +05/12 12:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:01:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=144.7ms, total=144.7ms [env.py: 1075] +05/12 12:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.705, 0.449, 0.094) [env.py: 1079] +05/12 12:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.1 deg [env.py: 1082] +05/12 12:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/12 12:01:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:01:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:01:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:01:43 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 12:01:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 12:01:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:01:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:01:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:01:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.185s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:01:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.499[m] 80.999[deg] [grasp_sample.py: 539] +05/12 12:01:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:01:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:01:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:01:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:01:51 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:01:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:01:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:01:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:01:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:02:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:02:06 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 12:02:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:02:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 12:02:09 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.491s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:02:09 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.039[m] 7.095[deg] [grasp_sample.py: 539] +05/12 12:02:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:02:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:02:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:02:12 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:02:17 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:02:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:02:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:02:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:02:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:02:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:02:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:02:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.83s (batch: 3.69s, save: 11.14s) [pipeline.py: 300] +05/12 12:02:33 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.63s: + episode_total: mean=171.14s, total=171.14s, count=1, min=171135.3ms, max=171135.3ms + sensor_polling: mean=390.5ms, total=117.15s, count=300, min=364.3ms, max=878.9ms + save_trajectories: mean=11.14s, total=11.14s, count=1, min=11140.4ms, max=11140.4ms + physics_step: mean=23.9ms, total=7.16s, count=300, min=17.2ms, max=34.1ms + save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3694.1ms, max=3694.1ms + task_sampling: mean=631.6ms, total=631.6ms, count=1, min=631.6ms, max=631.6ms + task_specific_sample: mean=627.5ms, total=627.5ms, count=1, min=627.5ms, max=627.5ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=458.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.6us, 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 12:02:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:02:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:02:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:02:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:02:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:02:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:02:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:02:34 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 12:02:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:02:34 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 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082964m [env.py: 870] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:02:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76759648 0.83356802 0.08296369] yaw=-165.4deg [env.py: 1019] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74042791 0.42492593 0.08296369] yaw=184.2deg [env.py: 1019] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74833573 0.99839911 0.08296369] yaw=-177.9deg [env.py: 1019] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:02:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.8ms, total=173.8ms [env.py: 1075] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.834, 0.083) [env.py: 1079] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.4 deg [env.py: 1082] +05/12 12:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m [env.py: 1086] +05/12 12:02:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:02:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:02:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:02:35 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 12:02:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 12:02:35 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 12:02:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:02:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:02:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.093s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:02:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.576[m] 88.090[deg] [grasp_sample.py: 539] +05/12 12:02:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:02:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:02:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:02:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:02:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:02:40 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:02:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:02:40 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:02:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:02:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:02:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:02:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.38s (batch: 4.20s, save: 11.19s) [pipeline.py: 300] +05/12 12:02:56 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.51s: + episode_total: mean=190.12s, total=190.12s, count=1, min=190122.5ms, max=190122.5ms + sensor_polling: mean=398.5ms, total=119.56s, count=300, min=363.2ms, max=845.3ms + save_trajectories: mean=11.19s, total=11.19s, count=1, min=11186.4ms, max=11186.4ms + physics_step: mean=25.0ms, total=7.50s, count=300, min=16.8ms, max=73.7ms + save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4197.2ms, max=4197.2ms + task_sampling: mean=512.5ms, total=512.5ms, count=1, min=512.5ms, max=512.5ms + task_specific_sample: mean=508.4ms, total=508.4ms, count=1, min=508.4ms, max=508.4ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=456.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=27.2us, 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 12:02:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:02:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:02:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:02:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:02:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:02:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:02:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:02:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:02:58 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 12:02:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:02:58 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 12:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047746m [env.py: 870] +05/12 12:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:02:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97692353 0.99332502 0.0477455 ] yaw=-128.9deg [env.py: 1019] +05/12 12:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81589334 0.74759575 0.0477455 ] yaw=-161.0deg [env.py: 1019] +05/12 12:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:02:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.6ms, total=199.7ms [env.py: 1075] +05/12 12:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.977, 0.993, 0.048) [env.py: 1079] +05/12 12:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.9 deg [env.py: 1082] +05/12 12:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m [env.py: 1086] +05/12 12:02:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:02:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:02:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:02:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:02:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:02:58 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 12:02:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 12:02:58 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 12:02:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:02:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:03:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.082s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:03:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.460[m] 86.405[deg] [grasp_sample.py: 539] +05/12 12:03:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:03:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:03:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:03:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:03:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:03:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:03:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:03:38 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:03:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:03:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:04:06 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:04:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:04:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:04:08 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:04:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:04:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:04:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.61s (batch: 4.50s, save: 11.12s) [pipeline.py: 300] +05/12 12:04:22 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.54s: + episode_total: mean=182.91s, total=182.91s, count=1, min=182910.7ms, max=182910.7ms + sensor_polling: mean=423.0ms, total=126.89s, count=300, min=380.9ms, max=969.0ms + save_trajectories: mean=11.12s, total=11.12s, count=1, min=11115.6ms, max=11115.6ms + physics_step: mean=24.0ms, total=7.21s, count=300, min=21.4ms, max=33.8ms + save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4495.3ms, max=4495.3ms + task_sampling: mean=539.5ms, total=539.5ms, count=1, min=539.5ms, max=539.5ms + task_specific_sample: mean=534.7ms, total=534.7ms, count=1, min=534.7ms, max=534.7ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=580.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:04:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:04:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:04:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:04:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:04:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:04:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:04:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:04:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:04:23 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 12:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055790m [env.py: 870] +05/12 12:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:04:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83207328 0.73113708 0.05579012] yaw=-126.5deg [env.py: 1019] +05/12 12:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76261891 0.36549971 0.05579012] yaw=143.7deg [env.py: 1019] +05/12 12:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:04:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=219.2ms, total=219.3ms [env.py: 1075] +05/12 12:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.832, 0.731, 0.056) [env.py: 1079] +05/12 12:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.5 deg [env.py: 1082] +05/12 12:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m [env.py: 1086] +05/12 12:04:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:04:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:04:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:04:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:04:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:04:24 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 12:04:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/12 12:04:24 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 12:04:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:04:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:04:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.067s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:04:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.581[m] 99.208[deg] [grasp_sample.py: 539] +05/12 12:04:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:04:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:04:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:04:26 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 12:04:35 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:04:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:04:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:04:45 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:04:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:04:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:04:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.79s (batch: 3.90s, save: 11.89s) [pipeline.py: 300] +05/12 12:04:51 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.47s: + episode_total: mean=188.95s, total=188.95s, count=1, min=188954.4ms, max=188954.4ms + sensor_polling: mean=443.4ms, total=133.03s, count=300, min=392.3ms, max=1109.3ms + save_trajectories: mean=11.89s, total=11.89s, count=1, min=11890.9ms, max=11890.9ms + physics_step: mean=26.8ms, total=8.05s, count=300, min=16.9ms, max=42.1ms + save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3898.8ms, max=3898.8ms + task_sampling: mean=469.1ms, total=469.1ms, count=1, min=469.1ms, max=469.1ms + task_specific_sample: mean=464.8ms, total=464.8ms, count=1, min=464.8ms, max=464.8ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=451.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=37.4us, 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 12:04:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:04:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:04:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:04:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:04:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:04:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:04:52 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 12:04:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:04:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036095m [env.py: 870] +05/12 12:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:04:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77205356 0.11971436 0.03609525] yaw=187.7deg [env.py: 1019] +05/12 12:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97908546 0.87486709 0.03609525] yaw=-183.4deg [env.py: 1019] +05/12 12:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1908474 1.03250655 0.03609525] yaw=-168.0deg [env.py: 1019] +05/12 12:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:04:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=83.0ms, total=83.1ms [env.py: 1075] +05/12 12:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.772, 0.120, 0.036) [env.py: 1079] +05/12 12:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.7 deg [env.py: 1082] +05/12 12:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/12 12:04:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:04:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:04:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:04:53 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 12:04:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 12:04:53 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 12:04:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:04:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:04:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.499s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:04:55 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.696[m] 89.964[deg] [grasp_sample.py: 539] +05/12 12:04:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:04:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:04:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:04:56 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 12:05:10 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:05:11 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:05:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:05:11 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:05:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:05:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:05:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:05:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:05:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.69s (batch: 3.77s, save: 11.91s) [pipeline.py: 300] +05/12 12:05:28 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.48s: + episode_total: mean=173.43s, total=173.43s, count=1, min=173433.1ms, max=173433.1ms + sensor_polling: mean=397.0ms, total=119.11s, count=300, min=372.6ms, max=906.9ms + save_trajectories: mean=11.91s, total=11.91s, count=1, min=11911.6ms, max=11911.6ms + physics_step: mean=23.1ms, total=6.93s, count=300, min=16.5ms, max=49.3ms + save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3774.0ms, max=3774.0ms + task_sampling: mean=476.3ms, total=476.3ms, count=1, min=476.3ms, max=476.3ms + task_specific_sample: mean=472.1ms, total=472.1ms, count=1, min=472.1ms, max=472.1ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=452.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.3us, 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 12:05:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:05:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:05:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:05:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:05:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:05:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:05:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:05:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:05:29 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 12:05:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:05:29 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 12:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088228m [env.py: 870] +05/12 12:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:05:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90758337 0.29195376 0.08822825] yaw=200.6deg [env.py: 1019] +05/12 12:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01648247 0.79169547 0.08822825] yaw=-157.2deg [env.py: 1019] +05/12 12:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82357172 0.6311941 0.08822825] yaw=-170.3deg [env.py: 1019] +05/12 12:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:05:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.5ms, total=125.5ms [env.py: 1075] +05/12 12:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.908, 0.292, 0.088) [env.py: 1079] +05/12 12:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 200.6 deg [env.py: 1082] +05/12 12:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/12 12:05:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:05:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:05:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:05:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:05:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:05:29 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 12:05:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/12 12:05:30 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 12:05:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:05:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:05:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:05:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.130s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:05:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.532[m] 89.375[deg] [grasp_sample.py: 539] +05/12 12:05:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:05:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:05:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:05:32 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 12:05:38 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:05:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:05:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:05:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:05:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:05:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.35s (batch: 4.15s, save: 11.20s) [pipeline.py: 300] +05/12 12:05:54 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.52s: + episode_total: mean=176.14s, total=176.14s, count=1, min=176135.8ms, max=176135.8ms + sensor_polling: mean=401.4ms, total=120.42s, count=300, min=362.8ms, max=878.4ms + save_trajectories: mean=11.20s, total=11.20s, count=1, min=11199.8ms, max=11199.8ms + physics_step: mean=24.6ms, total=7.37s, count=300, min=16.9ms, max=35.1ms + save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4152.8ms, max=4152.8ms + task_sampling: mean=515.2ms, total=515.2ms, count=1, min=515.2ms, max=515.2ms + task_specific_sample: mean=510.7ms, total=510.7ms, count=1, min=510.7ms, max=510.7ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=455.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:05:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:05:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:05:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:05:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:05:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:05:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:05:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:05:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:05:55 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 12:05:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:05:55 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 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069141m [env.py: 870] +05/12 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:05:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69688935 0.30627308 0.06914053] yaw=201.3deg [env.py: 1019] +05/12 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81739857 0.90920875 0.06914053] yaw=-121.7deg [env.py: 1019] +05/12 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77799678 0.00589208 0.06914053] yaw=150.0deg [env.py: 1019] +05/12 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:05:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.8ms, total=146.8ms [env.py: 1075] +05/12 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.697, 0.306, 0.069) [env.py: 1079] +05/12 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 201.3 deg [env.py: 1082] +05/12 12:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m [env.py: 1086] +05/12 12:05:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:05:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:05:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:05:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:05:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:05:56 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 12:05:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 12:05:56 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 12:05:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:05:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:05:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.064s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:05:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.672[m] 87.719[deg] [grasp_sample.py: 539] +05/12 12:05:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:05:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:05:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:05:58 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 12:05:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:06:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:06:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:06:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:06:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:06:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:06:44 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:06:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:07:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:07:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:07:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:07:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:07:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:07:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:07:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:07:11 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 12:07:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:07:11 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 12:07:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:07:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 84 non-colliding grasps [grasp_sample.py: 465] +05/12 12:07:11 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:07:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:07:11 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:07:12 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.642s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:07:12 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.117[m] 0.886[deg] [grasp_sample.py: 539] +05/12 12:07:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:07:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:07:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:07:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:07:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:07:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:07:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:07:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:07:15 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 12:07:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:07:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 12:07:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.706s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:07:16 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.419[deg] [grasp_sample.py: 539] +05/12 12:07:17 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:07:17 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:07:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:07:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:07:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:07:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:07:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:07:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:07:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:07:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:07:19 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 12:07:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:07:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030525m [env.py: 870] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:07:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97099808 0.2449881 0.03052549] yaw=126.9deg [env.py: 1019] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71400663 0.08066197 0.03052549] yaw=168.5deg [env.py: 1019] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80985819 0.64552747 0.03052549] yaw=-130.9deg [env.py: 1019] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:07:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=303.2ms, total=303.3ms [env.py: 1075] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.971, 0.245, 0.031) [env.py: 1079] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 126.9 deg [env.py: 1082] +05/12 12:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.769m [env.py: 1086] +05/12 12:07:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:07:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:07:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:07:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:07:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:07:19 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 12:07:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 12:07:19 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 12:07:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:07:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:07:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.694s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:07:20 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.452[m] 97.109[deg] [grasp_sample.py: 539] +05/12 12:07:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:07:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:07:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:07:21 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 12:07:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:07:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:07:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.67s (batch: 4.15s, save: 11.52s) [pipeline.py: 300] +05/12 12:07:28 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.56s: + episode_total: mean=184.31s, total=184.31s, count=1, min=184310.9ms, max=184310.9ms + sensor_polling: mean=426.6ms, total=127.99s, count=300, min=384.0ms, max=848.1ms + save_trajectories: mean=11.52s, total=11.52s, count=1, min=11515.3ms, max=11515.3ms + physics_step: mean=25.8ms, total=7.74s, count=300, min=16.9ms, max=39.9ms + save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4150.2ms, max=4150.2ms + task_sampling: mean=559.9ms, total=559.9ms, count=1, min=559.9ms, max=559.9ms + task_specific_sample: mean=555.3ms, total=555.3ms, count=1, min=555.3ms, max=555.3ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=585.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=28.6us, 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 12:07:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:07:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:07:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:07:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:07:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:07:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:07:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:07:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:07:29 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 12:07:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:07:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090545m [env.py: 870] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:07:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99775935 0.96389353 0.09054517] yaw=-177.5deg [env.py: 1019] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94400011 1.01675711 0.09054517] yaw=-173.7deg [env.py: 1019] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90478374 0.89959088 0.09054517] yaw=-166.5deg [env.py: 1019] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:07:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.0ms, total=169.0ms [env.py: 1075] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.998, 0.964, 0.091) [env.py: 1079] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.5 deg [env.py: 1082] +05/12 12:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m [env.py: 1086] +05/12 12:07:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:07:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:07:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:07:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:07:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:07:30 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 12:07:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 12:07:30 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 12:07:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:07:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:07:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.916s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:07:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.525[m] 83.921[deg] [grasp_sample.py: 539] +05/12 12:07:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:07:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:07:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:07:43 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:07:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:07:43 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:07:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:07:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:07:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:07:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 16.39s (batch: 3.85s, save: 12.54s) [pipeline.py: 300] +05/12 12:08:00 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.38s: + episode_total: mean=187.67s, total=187.67s, count=1, min=187672.2ms, max=187672.2ms + sensor_polling: mean=435.4ms, total=130.63s, count=300, min=402.3ms, max=1009.3ms + save_trajectories: mean=12.54s, total=12.54s, count=1, min=12541.2ms, max=12541.2ms + physics_step: mean=23.9ms, total=7.18s, count=300, min=17.0ms, max=32.2ms + save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3847.5ms, max=3847.5ms + task_sampling: mean=381.3ms, total=381.3ms, count=1, min=381.3ms, max=381.3ms + task_specific_sample: mean=377.2ms, total=377.2ms, count=1, min=377.2ms, max=377.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=452.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.4us, 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 12:08:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:08:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:08:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:08:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:08:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:08:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:08:01 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 12:08:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:08:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099120m [env.py: 870] +05/12 12:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:08:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00214318 1.30754591 0.09912048] yaw=-93.9deg [env.py: 1019] +05/12 12:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87894541 1.06588077 0.09912048] yaw=-182.0deg [env.py: 1019] +05/12 12:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8792864 0.8985543 0.09912048] yaw=-186.3deg [env.py: 1019] +05/12 12:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:08:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.4ms, total=144.5ms [env.py: 1075] +05/12 12:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.002, 1.308, 0.099) [env.py: 1079] +05/12 12:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.9 deg [env.py: 1082] +05/12 12:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 12:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:08:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:08:02 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 12:08:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 12:08:02 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 12:08:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:08:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:08:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:08:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.663s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:08:05 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:08:07 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:08:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:08:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:08:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:08:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:08:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:08:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:08:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:08:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:08:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:08:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:08:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085512m [env.py: 870] +05/12 12:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:08:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85331426 0.76969565 0.08551159] yaw=-156.6deg [env.py: 1019] +05/12 12:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96436555 0.62922468 0.08551159] yaw=-142.5deg [env.py: 1019] +05/12 12:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00528616 0.99651996 0.08551159] yaw=-104.3deg [env.py: 1019] +05/12 12:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:08:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=89.2ms, total=89.2ms [env.py: 1075] +05/12 12:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.770, 0.086) [env.py: 1079] +05/12 12:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.6 deg [env.py: 1082] +05/12 12:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/12 12:08:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:08:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:08:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:08:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:08:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:08:08 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 12:08:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/12 12:08:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:08:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:08:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:08:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:08:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.869s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:08:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.425[m] 81.257[deg] [grasp_sample.py: 539] +05/12 12:08:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:08:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:08:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:08:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:08:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:08:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:08:35 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:08:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:08:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:08:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:08:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:08:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:08:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:08:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.18s (batch: 4.35s, save: 10.84s) [pipeline.py: 300] +05/12 12:08:51 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.45s: + episode_total: mean=175.88s, total=175.88s, count=1, min=175883.5ms, max=175883.5ms + sensor_polling: mean=399.8ms, total=119.94s, count=300, min=365.2ms, max=824.7ms + save_trajectories: mean=10.84s, total=10.84s, count=1, min=10835.4ms, max=10835.4ms + physics_step: mean=23.7ms, total=7.10s, count=300, min=21.5ms, max=33.0ms + save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4346.8ms, max=4346.8ms + task_sampling: mean=452.5ms, total=452.5ms, count=1, min=452.5ms, max=452.5ms + task_specific_sample: mean=448.2ms, total=448.2ms, count=1, min=448.2ms, max=448.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=647.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=23.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:08:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:08:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:08:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:08:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:08:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:08:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:08:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:08:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:08:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:08:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:08:53 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 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059155m [env.py: 870] +05/12 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:08:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93416693 1.16997875 0.05915506] yaw=-146.4deg [env.py: 1019] +05/12 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74199365 0.05869007 0.05915506] yaw=157.4deg [env.py: 1019] +05/12 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.72568856 0.80254798 0.05915506] yaw=-166.1deg [env.py: 1019] +05/12 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:08:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=252.1ms, total=252.1ms [env.py: 1075] +05/12 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 1.170, 0.059) [env.py: 1079] +05/12 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.4 deg [env.py: 1082] +05/12 12:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/12 12:08:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:08:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:08:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:08:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:08:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:08:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:08:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:08:53 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 12:08:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:08:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 12:08:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:08:53 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 12:08:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/12 12:08:53 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 12:08:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:08:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:08:54 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.734s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:08:54 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.346[deg] [grasp_sample.py: 539] +05/12 12:08:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:08:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:08:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:08:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:08:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.757s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:08:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.600[m] 90.353[deg] [grasp_sample.py: 539] +05/12 12:08:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:08:57 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:08:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:09:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:09:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:09:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:09:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:09:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:09:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038913m [env.py: 870] +05/12 12:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:09:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83286798 0.37775638 0.03891318] yaw=161.7deg [env.py: 1019] +05/12 12:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86899264 0.41173673 0.03891318] yaw=192.6deg [env.py: 1019] +05/12 12:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67454593 0.78438991 0.03891318] yaw=-188.8deg [env.py: 1019] +05/12 12:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:09:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=140.0ms, total=140.1ms [env.py: 1075] +05/12 12:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.378, 0.039) [env.py: 1079] +05/12 12:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.7 deg [env.py: 1082] +05/12 12:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/12 12:09:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:09:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:09:00 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 12:09:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 12:09:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:09:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:09:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:09:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.802s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:09:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.444[m] 95.040[deg] [grasp_sample.py: 539] +05/12 12:09:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:09:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:09:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:09:02 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 12:09:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:09:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:09:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:09:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:09:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:09:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:09:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:09:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:09:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:09:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:09:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:09:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:09:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:09:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:09:41 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 12:09:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:09:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/12 12:09:43 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.972s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:09:43 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.026[m] 3.300[deg] [grasp_sample.py: 539] +05/12 12:09:45 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:09:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:09:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:09:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:09:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:09:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073963m [env.py: 870] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:09:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01728668 0.8813195 0.07396344] yaw=-112.5deg [env.py: 1019] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91274265 0.68387494 0.07396344] yaw=-175.5deg [env.py: 1019] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03671737 1.04469704 0.07396344] yaw=-108.5deg [env.py: 1019] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:09:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=296.9ms, total=297.0ms [env.py: 1075] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.017, 0.881, 0.074) [env.py: 1079] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -112.5 deg [env.py: 1082] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.793m [env.py: 1086] +05/12 12:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:09:47 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 12:09:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 12:09:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:09:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:09:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:09:47 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:09:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:09:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.312s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:09:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.503[m] 99.230[deg] [grasp_sample.py: 539] +05/12 12:09:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:09:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:09:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:09:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:10:15 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:10:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:10:15 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:10:30 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:10:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:10:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:10:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:10:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.94s (batch: 4.75s, save: 11.18s) [pipeline.py: 300] +05/12 12:10:32 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.48s: + episode_total: mean=182.53s, total=182.53s, count=1, min=182529.8ms, max=182529.8ms + sensor_polling: mean=421.4ms, total=126.43s, count=300, min=384.4ms, max=860.0ms + save_trajectories: mean=11.18s, total=11.18s, count=1, min=11184.5ms, max=11184.5ms + physics_step: mean=24.0ms, total=7.19s, count=300, min=17.0ms, max=34.2ms + save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4755.0ms, max=4755.0ms + task_sampling: mean=478.3ms, total=478.3ms, count=1, min=478.3ms, max=478.3ms + task_specific_sample: mean=473.5ms, total=473.5ms, count=1, min=473.5ms, max=473.5ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=532.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:10:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:10:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:10:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:10:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:10:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:10:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:10:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:10:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:10:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:10:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:10:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016732m [env.py: 870] +05/12 12:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:10:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76353192 0.26279295 0.0167325 ] yaw=131.3deg [env.py: 1019] +05/12 12:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.64814527 0.65569581 0.0167325 ] yaw=-202.7deg [env.py: 1019] +05/12 12:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:10:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.8ms, total=221.8ms [env.py: 1075] +05/12 12:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.764, 0.263, 0.017) [env.py: 1079] +05/12 12:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 131.3 deg [env.py: 1082] +05/12 12:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m [env.py: 1086] +05/12 12:10:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:10:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:10:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:10:34 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 12:10:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/12 12:10:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:10:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:10:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:10:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.867s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:10:35 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.623[m] 92.474[deg] [grasp_sample.py: 539] +05/12 12:10:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:10:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:10:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:10:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:10:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:10:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:10:57 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:10:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:10:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:11:12 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:11:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:11:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:11:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.79s (batch: 4.92s, save: 10.87s) [pipeline.py: 300] +05/12 12:11:13 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.84s: + episode_total: mean=94.64s, total=189.28s, count=2, min=3333.8ms, max=185950.5ms + sensor_polling: mean=433.5ms, total=130.04s, count=300, min=397.0ms, max=1098.6ms + save_trajectories: mean=10.87s, total=10.87s, count=1, min=10866.6ms, max=10866.6ms + physics_step: mean=24.2ms, total=7.26s, count=300, min=21.6ms, max=35.8ms + save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4923.4ms, max=4923.4ms + task_sampling: mean=422.5ms, total=845.0ms, count=2, min=384.2ms, max=460.7ms + task_specific_sample: mean=417.3ms, total=834.6ms, count=2, min=378.5ms, max=456.1ms + scene_randomize: mean=2.8ms, total=5.6ms, count=2, min=2.4ms, max=3.2ms + mj_forward_sync: mean=477.4us, total=1.0ms, 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 12:11:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:11:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:11:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:11:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:11:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:11:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:11:16 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 12:11:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:11:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060578m [env.py: 870] +05/12 12:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:11:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6363347 0.39542185 0.06057819] yaw=144.8deg [env.py: 1019] +05/12 12:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7376459 0.71093391 0.06057819] yaw=-206.2deg [env.py: 1019] +05/12 12:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89731363 0.99711344 0.06057819] yaw=-165.7deg [env.py: 1019] +05/12 12:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:11:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.7ms, total=133.7ms [env.py: 1075] +05/12 12:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.636, 0.395, 0.061) [env.py: 1079] +05/12 12:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.8 deg [env.py: 1082] +05/12 12:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m [env.py: 1086] +05/12 12:11:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:11:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:11:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:11:16 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 12:11:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 12:11:16 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 12:11:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:11:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:11:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.207s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:11:18 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.716[m] 97.468[deg] [grasp_sample.py: 539] +05/12 12:11:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:11:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:11:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:11:18 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 12:11:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:11:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:11:40 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:11:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:11:40 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:11:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:11:54 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:11:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:11:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:11:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.43s (batch: 4.23s, save: 11.20s) [pipeline.py: 300] +05/12 12:11:56 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.00s: + episode_total: mean=90.69s, total=181.37s, count=2, min=4806.5ms, max=176565.5ms + sensor_polling: mean=401.3ms, total=120.40s, count=300, min=371.9ms, max=870.5ms + save_trajectories: mean=11.20s, total=11.20s, count=1, min=11195.5ms, max=11195.5ms + physics_step: mean=25.0ms, total=7.50s, count=300, min=21.6ms, max=36.8ms + save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4234.3ms, max=4234.3ms + task_sampling: mean=502.1ms, total=1.00s, count=2, min=397.1ms, max=607.1ms + task_specific_sample: mean=496.5ms, total=993.0ms, count=2, min=390.1ms, max=602.9ms + scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=2.0ms, max=2.7ms + mj_forward_sync: mean=449.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=17.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:11:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:11:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:11:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:11:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:11:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:11:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:11:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:11:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:11:58 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 12:11:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:11:58 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 12:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068688m [env.py: 870] +05/12 12:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:11:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74394966 0.10189714 0.06868769] yaw=150.3deg [env.py: 1019] +05/12 12:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96639299 1.14031565 0.06868769] yaw=-98.9deg [env.py: 1019] +05/12 12:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:11:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=282.3ms, total=282.3ms [env.py: 1075] +05/12 12:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.102, 0.069) [env.py: 1079] +05/12 12:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.3 deg [env.py: 1082] +05/12 12:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/12 12:11:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:11:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:11:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:11:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:11:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:11:58 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 12:11:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s [base_object_manipulation_planner_policy.py: 377] +05/12 12:11:59 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 12:11:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:11:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:11:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.678s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:12:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.561[m] 84.722[deg] [grasp_sample.py: 539] +05/12 12:12:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:12:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:12:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:12:02 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 12:12:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:12:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:12:11 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 12:12:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:12:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:12 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.684s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:12:12 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.359[deg] [grasp_sample.py: 539] +05/12 12:12:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:12:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:12:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:12:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:12:22 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:12:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:12:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:12:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:12:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:12:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:12:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:12:35 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 12:12:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:12:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:12:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:12:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.66s (batch: 4.25s, save: 11.41s) [pipeline.py: 300] +05/12 12:12:39 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.67s: + episode_total: mean=142.20s, total=426.60s, count=3, min=108252.7ms, max=172476.1ms + sensor_polling: mean=392.9ms, total=304.48s, count=775, min=361.5ms, max=996.2ms + physics_step: mean=23.4ms, total=18.11s, count=775, min=14.9ms, max=36.9ms + save_trajectories: mean=11.41s, total=11.41s, count=1, min=11409.7ms, max=11409.7ms + save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4249.2ms, max=4249.2ms + task_sampling: mean=556.8ms, total=1.67s, count=3, min=430.3ms, max=671.2ms + task_specific_sample: mean=553.1ms, total=1.66s, count=3, min=426.4ms, max=667.6ms + scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.2ms, max=2.6ms + mj_forward_sync: mean=474.8us, total=1.4ms, count=3, min=0.5ms, max=0.5ms + policy_setup: mean=16.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:12:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.900s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:12:39 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.110[m] 7.696[deg] [grasp_sample.py: 539] +05/12 12:12:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:12:40 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 12:12:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:12:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078890m [env.py: 870] +05/12 12:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:12:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:12:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.1ms, total=185.2ms [env.py: 1105] +05/12 12:12:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 285] +05/12 12:12:40 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/12 12:12:41 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:12:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:12:42 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 12:12:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:12:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061951m [env.py: 870] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:12:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90210765 0.47731357 0.06195128] yaw=151.8deg [env.py: 1019] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74945298 0.69922059 0.06195128] yaw=-167.8deg [env.py: 1019] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98240132 0.74631464 0.06195128] yaw=-191.5deg [env.py: 1019] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:12:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.6ms, total=162.7ms [env.py: 1075] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.902, 0.477, 0.062) [env.py: 1079] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.8 deg [env.py: 1082] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m [env.py: 1086] +05/12 12:12:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:12:42 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 12:12:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:12:42 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 12:12:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:12:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039972m [env.py: 870] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:12:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:12:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 12:12:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:12:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84548265 1.00936431 0.03997236] yaw=-128.0deg [env.py: 1019] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:12:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95547086 1.01736515 0.03997236] yaw=-115.9deg [env.py: 1019] +05/12 12:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:12:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=364.1ms, total=364.1ms [env.py: 1075] +05/12 12:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.845, 1.009, 0.040) [env.py: 1079] +05/12 12:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.0 deg [env.py: 1082] +05/12 12:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m [env.py: 1086] +05/12 12:12:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:12:43 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 12:12:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 12:12:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:12:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:12:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.792s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:12:43 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.400[m] 87.213[deg] [grasp_sample.py: 539] +05/12 12:12:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:12:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:12:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:12:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:12:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:12:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:12:44 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 12:12:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:12:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:47 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.033s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:12:47 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.381[deg] [grasp_sample.py: 539] +05/12 12:12:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:12:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.786s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:12:47 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.656[m] 91.118[deg] [grasp_sample.py: 539] +05/12 12:12:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:12:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:12:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:12:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:12:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:12:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:12:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:12:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:12:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:12:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:13:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:13:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:13:04 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 12:13:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:13:04 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 12:13:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:13:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/12 12:13:09 INFO: [Worker 0] Feasibility-checked 70 grasps in 4.500s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:13:09 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.031[m] 12.568[deg] [grasp_sample.py: 539] +05/12 12:13:10 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:13:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:13:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:13:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:13:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:13:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:13:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:13:12 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 12:13:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:13:12 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 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053560m [env.py: 870] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:13:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75712668 0.5467297 0.05356005] yaw=-146.3deg [env.py: 1019] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90638398 1.04309224 0.05356005] yaw=-138.3deg [env.py: 1019] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92391807 0.80596751 0.05356005] yaw=-125.6deg [env.py: 1019] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:13:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=263.2ms, total=263.2ms [env.py: 1075] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.547, 0.054) [env.py: 1079] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg [env.py: 1082] +05/12 12:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m [env.py: 1086] +05/12 12:13:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:13:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:13:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:13:12 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 12:13:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 12:13:12 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 12:13:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:13:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:13:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.521s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:13:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.562[m] 83.011[deg] [grasp_sample.py: 539] +05/12 12:13:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:13:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:13:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:13:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:13:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:13:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:13:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:13:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:13:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:14:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:14:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:14:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:14:15 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 12:14:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:14:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 12:14:16 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.653s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:14:16 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.159[deg] [grasp_sample.py: 539] +05/12 12:14:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:14:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:14:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:14:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:19 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:14:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:14:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:14:20 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 12:14:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:14:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 12:14:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:14:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:14:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:14:45 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:14:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:14:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:14:46 INFO: [Worker 0] Feasibility-checked 80 grasps in 26.376s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:14:46 INFO: [Worker 0] Feasible grasp found 204 (originally 89): w/ 0.294[m] 11.131[deg] [grasp_sample.py: 539] +05/12 12:14:48 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:14:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:14:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:14:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:14:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:14:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:14:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:14:49 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 12:14:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:14:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016417m [env.py: 870] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:14:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84364634 0.1826559 0.01641667] yaw=144.5deg [env.py: 1019] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82964071 0.00804613 0.01641667] yaw=185.2deg [env.py: 1019] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94195971 0.2110801 0.01641667] yaw=155.1deg [env.py: 1019] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:14:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.2ms, total=140.3ms [env.py: 1075] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.844, 0.183, 0.016) [env.py: 1079] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.5 deg [env.py: 1082] +05/12 12:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m [env.py: 1086] +05/12 12:14:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:14:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:14:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:14:49 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 12:14:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/12 12:14:50 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 12:14:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:14:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:14:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.817s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:14:50 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.491[m] 91.775[deg] [grasp_sample.py: 539] +05/12 12:14:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:14:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:14:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:14:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] diff --git a/fridge_m_0.7_pd/chunk_013/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_013/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5f09e05abb972836d29818e717b52dee32c146a1 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_013/trajectories_batch_1_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ff37a7c424758d6fb7570bca7b5ef9a2098fe972c9317aa004b074549e67c5b +size 616969395 diff --git a/fridge_m_0.7_pd/chunk_013/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_013/trajectories_batch_2_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9dd5ae4a77c7a193c0d5c559375ea6146ef70d4b --- /dev/null +++ b/fridge_m_0.7_pd/chunk_013/trajectories_batch_2_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:602a294ca3e11471b365ffbdb9c2c688e58f95ae530ef843bd9d3da2d805d588 +size 474399523 diff --git a/fridge_m_0.7_pd/chunk_013/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_013/trajectories_batch_3_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8a0154fd118055616f62fc765d6f3872b1735304 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_013/trajectories_batch_3_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66f3e552c3cb91bac34914fdb5fbb28054640c86eab20bc15198e9f9e2171519 +size 563222879 diff --git a/fridge_m_0.7_pd/chunk_013/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_013/trajectories_batch_4_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f1d189f87b2cd1b6ce3b84721ca16e2e6b59d8b1 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_013/trajectories_batch_4_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e3153f0a180a425c029b1227a35a21e0d4c3cec02792438bc3c6c013f7fe2a8 +size 623715330