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not set) [pipeline.py: 640] +05/18 16:17:07 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/18 16:17:07 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 16:17:07 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_2house/sim_chunks/chunk_067'), + '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': [0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4]}, + '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': 40067, + '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': (-0.1, 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': (0.85, 1.3), + 'base_pose_sampling_theta_range_rad': (-0.5, 1.0), + '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': [2], + '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': 0.5, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + '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': 1, + '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] +05/18 16:17:07 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] +05/18 16:17:07 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 16:17:07 INFO: [Worker 0] Worker 0 starting house 2 (index 0/1) [pipeline.py: 464] +05/18 16:17:08 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 16:17:10 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan2_physics.xml [task_sampler.py: 797] +05/18 16:17:10 INFO: [Worker 0] Setting up scene for house 2, task None... [pick_task_sampler.py: 197] +05/18 16:17:10 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 16:17:10 INFO: [Worker 0] Resolving Fridge_7_upside_down_root grasp uid Fridge_m_2 -> Fridge_m via name_map [pick_task_sampler.py: 917] +05/18 16:17:10 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 16:17:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:10 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040256m [env.py: 870] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:10 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -87.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.01448616 -1.02690688 -0.04025562] yaw=150.1deg [env.py: 1019] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.22204711 -1.21404039 -0.04025562] yaw=155.3deg [env.py: 1019] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.16500629 -0.67372483 -0.04025562] yaw=-180.8deg [env.py: 1019] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=12.2ms, retries=141.2ms, total=153.4ms [env.py: 1075] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.014, -1.027, -0.040) [env.py: 1079] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.1 deg [env.py: 1082] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/18 16:17:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:10 INFO: [Worker 0] Worker 0 house 2 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:33 INFO: [Worker 0] Warmed up parallel IK solver in 22.680s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.907s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:17:35 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.715[m] 60.767[deg] [grasp_sample.py: 596] +05/18 16:17:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:17:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:17:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:18:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:18:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:40 INFO: [Worker 0] Worker 0 house 2 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:18:53 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [pipeline.py: 1174] +05/18 16:18:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_067 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:18:53 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:19:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:19:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [save_utils.py: 785] +05/18 16:19:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_067 in 9.34s (batch: 2.40s, save: 6.95s) [pipeline.py: 300] +05/18 16:19:03 INFO: [Worker 0] [PROFILE] Episode 0 house 2 success=True episode_total=2.70s: + episode_total: mean=115.63s, total=115.63s, count=1, min=115633.0ms, max=115633.0ms + sensor_polling: mean=200.7ms, total=60.20s, count=300, min=188.1ms, max=289.1ms + save_trajectories: mean=6.95s, total=6.95s, count=1, min=6949.7ms, max=6949.7ms + physics_step: mean=13.4ms, total=4.01s, count=300, min=11.0ms, max=15.1ms + task_sampling: mean=2.70s, total=2.70s, count=1, min=2695.6ms, max=2695.6ms + save_batch_prep: mean=2.40s, total=2.40s, count=1, min=2395.1ms, max=2395.1ms + scene_load: mean=2.35s, total=2.35s, count=1, min=2350.6ms, max=2350.6ms + scene_env_create: mean=1.13s, total=1.13s, count=1, min=1132.1ms, max=1132.1ms + scene_compile: mean=1.11s, total=1.11s, count=1, min=1110.0ms, max=1110.0ms + compile_mujoco: mean=526.1ms, total=526.1ms, count=1, min=526.1ms, max=526.1ms + compile_xml_load: mean=492.4ms, total=492.4ms, count=1, min=492.4ms, max=492.4ms + task_specific_sample: mean=342.8ms, total=342.8ms, count=1, min=342.8ms, max=342.8ms + scene_init: mean=72.5ms, total=72.5ms, count=1, min=72.5ms, max=72.5ms + compile_aux_objects: mean=61.4ms, total=61.4ms, count=1, min=61.4ms, max=61.4ms + compile_aux_policy_objects: mean=61.4ms, total=61.4ms, count=1, min=61.4ms, max=61.4ms + scene_asset_install: mean=35.9ms, total=35.9ms, count=1, min=35.9ms, max=35.9ms + asset_install_grasps: mean=24.8ms, total=24.8ms, count=1, min=24.8ms, max=24.8ms + compile_robot_add: mean=23.8ms, total=23.8ms, count=1, min=23.8ms, max=23.8ms + asset_install_objects: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + scene_randomize: mean=818.7us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + mj_forward_sync: mean=311.9us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=25.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:19:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:19:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:19:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:19:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:04 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:19:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:19:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:19:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043364m [env.py: 870] +05/18 16:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:19:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -97.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.05826887 -0.74639587 -0.04336408] yaw=-199.4deg [env.py: 1019] +05/18 16:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:19:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=135.1ms, total=135.1ms [env.py: 1075] +05/18 16:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.058, -0.746, -0.043) [env.py: 1079] +05/18 16:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -199.4 deg [env.py: 1082] +05/18 16:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.145m [env.py: 1086] +05/18 16:19:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:19:05 INFO: [Worker 0] Worker 0 house 2 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 16:19:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/18 16:19:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:19:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:19:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.915s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:19:07 ERROR: [Worker 0] Worker 0 house 2 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:19:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:19:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:19:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:19:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:08 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:19:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:19:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:19:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.051m, effective arm-mount z=0.809m (base_body_z=-0.051m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.051461m [env.py: 870] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:19:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.03490908 -0.81332798 -0.05146068] yaw=-152.5deg [env.py: 1019] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.30579708 -0.30673954 -0.05146068] yaw=-157.4deg [env.py: 1019] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 124.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.13514091 -1.32151088 -0.05146068] yaw=176.1deg [env.py: 1019] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:19:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.0ms, total=111.0ms [env.py: 1075] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.035, -0.813, -0.051) [env.py: 1079] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.5 deg [env.py: 1082] +05/18 16:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.114m [env.py: 1086] +05/18 16:19:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:19:08 INFO: [Worker 0] Worker 0 house 2 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 16:19:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 16:19:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:19:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:19:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.941s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:19:10 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.815[m] 106.314[deg] [grasp_sample.py: 596] +05/18 16:19:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:19:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:19:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:19:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:19:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:15 INFO: [Worker 0] Worker 0 house 2 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:20:28 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [pipeline.py: 1174] +05/18 16:20:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_067 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:20:28 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:20:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:20:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [save_utils.py: 785] +05/18 16:20:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_067 in 9.19s (batch: 2.53s, save: 6.67s) [pipeline.py: 300] +05/18 16:20:38 INFO: [Worker 0] [PROFILE] Episode 2 house 2 success=True episode_total=0.60s: + episode_total: mean=46.15s, total=92.29s, count=2, min=2344.5ms, max=89949.3ms + sensor_polling: mean=197.5ms, total=59.26s, count=300, min=182.9ms, max=356.4ms + save_trajectories: mean=6.67s, total=6.67s, count=1, min=6665.7ms, max=6665.7ms + physics_step: mean=13.2ms, total=3.97s, count=300, min=10.9ms, max=15.3ms + save_batch_prep: mean=2.53s, total=2.53s, count=1, min=2527.9ms, max=2527.9ms + task_sampling: mean=298.0ms, total=595.9ms, count=2, min=279.1ms, max=316.8ms + task_specific_sample: mean=295.4ms, total=590.8ms, count=2, min=277.0ms, max=313.9ms + scene_randomize: mean=1.4ms, total=2.7ms, count=2, min=0.8ms, max=1.9ms + mj_forward_sync: mean=342.5us, total=0.7ms, count=2, min=0.3ms, max=0.4ms + policy_setup: mean=17.9us, 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] +05/18 16:20:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:20:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:20:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:39 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:20:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:20:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:20:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.092m, effective arm-mount z=0.768m (base_body_z=-0.092m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.091569m [env.py: 870] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:20:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.08618093 -0.76916697 -0.09156908] yaw=-190.8deg [env.py: 1019] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.16497786 -0.64210237 -0.09156908] yaw=-173.9deg [env.py: 1019] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.47233634 -0.20764258 -0.09156908] yaw=-103.2deg [env.py: 1019] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:20:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.7ms, total=105.7ms [env.py: 1075] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.086, -0.769, -0.092) [env.py: 1079] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -190.8 deg [env.py: 1082] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m [env.py: 1086] +05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:20:39 INFO: [Worker 0] Worker 0 house 2 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 16:20:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/18 16:20:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:20:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:20:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:20:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.646s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:20:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.698[m] 105.043[deg] [grasp_sample.py: 596] +05/18 16:20:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:20:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:20:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:21:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:21:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:47 INFO: [Worker 0] Worker 0 house 2 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:22:00 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [pipeline.py: 1174] +05/18 16:22:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_067 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:22:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:22:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:22:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [save_utils.py: 785] +05/18 16:22:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_067 in 9.28s (batch: 2.47s, save: 6.80s) [pipeline.py: 300] +05/18 16:22:10 INFO: [Worker 0] [PROFILE] Episode 3 house 2 success=True episode_total=0.29s: + episode_total: mean=90.58s, total=90.58s, count=1, min=90581.0ms, max=90581.0ms + sensor_polling: mean=204.0ms, total=61.19s, count=300, min=184.7ms, max=354.6ms + save_trajectories: mean=6.80s, total=6.80s, count=1, min=6802.6ms, max=6802.6ms + physics_step: mean=13.7ms, total=4.11s, count=300, min=10.8ms, max=19.6ms + save_batch_prep: mean=2.47s, total=2.47s, count=1, min=2474.1ms, max=2474.1ms + task_sampling: mean=293.7ms, total=293.7ms, count=1, min=293.7ms, max=293.7ms + task_specific_sample: mean=291.0ms, total=291.0ms, count=1, min=291.0ms, max=291.0ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=334.3us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=25.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:22:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:22:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:22:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:22:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:11 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:22:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:22:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:22:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041911m [env.py: 870] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:22:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 130.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.1453221 -1.03408252 0.04191113] yaw=196.3deg [env.py: 1019] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.25753198 -0.639424 0.04191113] yaw=-176.8deg [env.py: 1019] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.36928249 -0.15353778 0.04191113] yaw=-107.1deg [env.py: 1019] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:22:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.7ms, total=104.7ms [env.py: 1075] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.145, -1.034, 0.042) [env.py: 1079] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 196.3 deg [env.py: 1082] +05/18 16:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.225m [env.py: 1086] +05/18 16:22:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:22:11 INFO: [Worker 0] Worker 0 house 2 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 16:22:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/18 16:22:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:22:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:22:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:22:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.827s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:22:13 ERROR: [Worker 0] Worker 0 house 2 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:22:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:22:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:22:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:22:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:14 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:22:14 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: 195] +05/18 16:22:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:22:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014210m [env.py: 870] +05/18 16:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:22:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.24799965 -0.71482991 -0.01421047] yaw=-165.9deg [env.py: 1019] +05/18 16:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.14754773 -0.57113426 -0.01421047] yaw=-147.6deg [env.py: 1019] +05/18 16:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:22:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=133.6ms, total=133.6ms [env.py: 1075] +05/18 16:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.248, -0.715, -0.014) [env.py: 1079] +05/18 16:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.9 deg [env.py: 1082] +05/18 16:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/18 16:22:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:22:15 INFO: [Worker 0] Worker 0 house 2 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 16:22:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 16:22:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:22:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:22:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:22:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.603s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:22:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.576[m] 119.166[deg] [grasp_sample.py: 596] +05/18 16:22:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:22:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:22:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:22:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:22:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:23 INFO: [Worker 0] Worker 0 house 2 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:23:36 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [pipeline.py: 1174] +05/18 16:23:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_067 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:23:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:23:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:23:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [save_utils.py: 785] +05/18 16:23:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_067 in 9.43s (batch: 2.52s, save: 6.90s) [pipeline.py: 300] +05/18 16:23:46 INFO: [Worker 0] [PROFILE] Episode 5 house 2 success=True episode_total=0.62s: + episode_total: mean=46.75s, total=93.51s, count=2, min=2232.2ms, max=91275.6ms + sensor_polling: mean=204.4ms, total=61.33s, count=300, min=186.3ms, max=313.4ms + save_trajectories: mean=6.90s, total=6.90s, count=1, min=6903.6ms, max=6903.6ms + physics_step: mean=14.0ms, total=4.20s, count=300, min=10.9ms, max=17.6ms + save_batch_prep: mean=2.52s, total=2.52s, count=1, min=2522.1ms, max=2522.1ms + task_sampling: mean=311.2ms, total=622.3ms, count=2, min=291.8ms, max=330.6ms + task_specific_sample: mean=308.6ms, total=617.3ms, count=2, min=289.0ms, max=328.3ms + scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=0.8ms, max=1.8ms + mj_forward_sync: mean=321.2us, total=0.6ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=20.0us, 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] +05/18 16:23:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:23:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:23:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:23:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:47 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:23:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:23:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:23:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007287m [env.py: 870] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:23:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.2252509 -1.01755231 -0.00728697] yaw=181.4deg [env.py: 1019] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.09224683 -0.20415868 -0.00728697] yaw=-160.7deg [env.py: 1019] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.06538962 -1.20073936 -0.00728697] yaw=183.0deg [env.py: 1019] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:23:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.6ms, total=108.7ms [env.py: 1075] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.225, -1.018, -0.007) [env.py: 1079] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.4 deg [env.py: 1082] +05/18 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m [env.py: 1086] +05/18 16:23:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:23:47 INFO: [Worker 0] Worker 0 house 2 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 16:23:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 16:23:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:23:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:23:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:23:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.637s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:23:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.644[m] 43.859[deg] [grasp_sample.py: 596] +05/18 16:23:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:23:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:23:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:24:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:56 INFO: [Worker 0] Worker 0 house 2 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:25:09 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [pipeline.py: 1174] +05/18 16:25:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_067 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:25:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:25:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:25:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [save_utils.py: 785] +05/18 16:25:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_067 in 9.40s (batch: 2.52s, save: 6.88s) [pipeline.py: 300] +05/18 16:25:19 INFO: [Worker 0] [PROFILE] Episode 6 house 2 success=True episode_total=0.29s: + episode_total: mean=91.86s, total=91.86s, count=1, min=91859.4ms, max=91859.4ms + sensor_polling: mean=207.6ms, total=62.27s, count=300, min=197.8ms, max=316.3ms + save_trajectories: mean=6.88s, total=6.88s, count=1, min=6876.9ms, max=6876.9ms + physics_step: mean=14.0ms, total=4.19s, count=300, min=10.9ms, max=16.0ms + save_batch_prep: mean=2.52s, total=2.52s, count=1, min=2522.2ms, max=2522.2ms + task_sampling: mean=294.2ms, total=294.2ms, count=1, min=294.2ms, max=294.2ms + task_specific_sample: mean=290.9ms, total=290.9ms, count=1, min=290.9ms, max=290.9ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=331.5us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + 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] +05/18 16:25:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:25:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:25:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:25:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:20 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:25:20 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: 195] +05/18 16:25:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:25:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.081m, effective arm-mount z=0.779m (base_body_z=-0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.081354m [env.py: 870] +05/18 16:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:25:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=134.6ms, total=134.6ms [env.py: 1105] +05/18 16:25:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 16:25:20 ERROR: [Worker 0] Worker 0 house 2 episode 7 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 16:25:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:25:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:25:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:25:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:22 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:25:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:25:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:25:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014645m [env.py: 870] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:25:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.1932594 -1.1583819 -0.01464527] yaw=154.4deg [env.py: 1019] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.33428868 -0.35326415 -0.01464527] yaw=-171.0deg [env.py: 1019] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.14753039 -1.09721679 -0.01464527] yaw=180.7deg [env.py: 1019] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:25:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.4ms, total=112.4ms [env.py: 1075] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.193, -1.158, -0.015) [env.py: 1079] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.4 deg [env.py: 1082] +05/18 16:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.291m [env.py: 1086] +05/18 16:25:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:25:22 INFO: [Worker 0] Worker 0 house 2 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 16:25:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/18 16:25:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:25:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:25:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:25:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.887s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:25:24 ERROR: [Worker 0] Worker 0 house 2 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:25:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:25:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:25:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:25:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:25 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:25:25 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: 195] +05/18 16:25:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:25:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.068m, effective arm-mount z=0.792m (base_body_z=-0.068m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.067678m [env.py: 870] +05/18 16:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:25:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.07258616 -1.22237616 -0.06767775] yaw=166.3deg [env.py: 1019] +05/18 16:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.14335361 -0.40381026 -0.06767775] yaw=-152.1deg [env.py: 1019] +05/18 16:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.19419598 -1.17258084 -0.06767775] yaw=144.4deg [env.py: 1019] +05/18 16:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:25:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=77.9ms, total=77.9ms [env.py: 1075] +05/18 16:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.073, -1.222, -0.068) [env.py: 1079] +05/18 16:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.3 deg [env.py: 1082] +05/18 16:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m [env.py: 1086] +05/18 16:25:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:25:26 INFO: [Worker 0] Worker 0 house 2 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 16:25:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:25:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:25:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:25:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:25:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.706s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:25:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.639[m] 54.680[deg] [grasp_sample.py: 596] +05/18 16:25:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:25:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:25:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:25:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:26:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:36 INFO: [Worker 0] Worker 0 house 2 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:26:49 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [pipeline.py: 1174] +05/18 16:26:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_067 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:26:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:26:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:26:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [save_utils.py: 785] +05/18 16:26:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_067 in 9.37s (batch: 2.51s, save: 6.85s) [pipeline.py: 300] +05/18 16:26:59 INFO: [Worker 0] [PROFILE] Episode 9 house 2 success=True episode_total=0.55s: + episode_total: mean=31.91s, total=95.73s, count=3, min=144.4ms, max=93287.6ms + sensor_polling: mean=208.5ms, total=62.54s, count=300, min=197.4ms, max=316.7ms + save_trajectories: mean=6.85s, total=6.85s, count=1, min=6853.6ms, max=6853.6ms + physics_step: mean=14.4ms, total=4.32s, count=300, min=10.8ms, max=17.2ms + save_batch_prep: mean=2.51s, total=2.51s, count=1, min=2511.7ms, max=2511.7ms + task_specific_sample: mean=228.3ms, total=685.0ms, count=3, min=139.3ms, max=300.8ms + task_sampling: mean=274.8ms, total=549.7ms, count=2, min=246.7ms, max=302.9ms + task_sampling_failed: mean=144.4ms, total=144.4ms, count=1, min=144.4ms, max=144.4ms + scene_randomize: mean=1.4ms, total=4.1ms, count=3, min=0.8ms, max=2.5ms + mj_forward_sync: mean=322.0us, total=1.0ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=18.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:27:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:27:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:00 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:27:00 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: 195] +05/18 16:27:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.091m, effective arm-mount z=0.769m (base_body_z=-0.091m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.091026m [env.py: 870] +05/18 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=135.7ms, total=135.7ms [env.py: 1105] +05/18 16:27:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 16:27:00 ERROR: [Worker 0] Worker 0 house 2 episode 10 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 16:27:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:27:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:01 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:27:01 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: 195] +05/18 16:27:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003823m [env.py: 870] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.45689669 -0.23321147 0.00382282] yaw=-115.4deg [env.py: 1019] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.20722011 -0.25069296 0.00382282] yaw=-121.9deg [env.py: 1019] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=134.2ms, total=134.2ms [env.py: 1075] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.457, -0.233, 0.004) [env.py: 1079] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -115.4 deg [env.py: 1082] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m [env.py: 1086] +05/18 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:02 INFO: [Worker 0] Worker 0 house 2 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.853s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:27:04 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.616[m] 86.734[deg] [grasp_sample.py: 596] +05/18 16:27:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:27:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:27:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:27:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:27:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:28:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:28:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:06 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.912s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:06 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.037[m] 8.792[deg] [grasp_sample.py: 596] +05/18 16:28:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:28:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:28:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:28:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:19 INFO: [Worker 0] Worker 0 house 2 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:28:32 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [pipeline.py: 1174] +05/18 16:28:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_067 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:28:32 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:28:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:28:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [save_utils.py: 785] +05/18 16:28:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_067 in 9.46s (batch: 2.64s, save: 6.82s) [pipeline.py: 300] +05/18 16:28:42 INFO: [Worker 0] [PROFILE] Episode 11 house 2 success=True episode_total=0.32s: + episode_total: mean=50.23s, total=100.45s, count=2, min=144.8ms, max=100310.0ms + sensor_polling: mean=205.1ms, total=61.53s, count=300, min=192.5ms, max=339.1ms + save_trajectories: mean=6.82s, total=6.82s, count=1, min=6823.3ms, max=6823.3ms + physics_step: mean=13.5ms, total=4.05s, count=300, min=10.2ms, max=20.2ms + save_batch_prep: mean=2.64s, total=2.64s, count=1, min=2636.6ms, max=2636.6ms + task_specific_sample: mean=228.4ms, total=456.7ms, count=2, min=140.3ms, max=316.5ms + task_sampling: mean=318.6ms, total=318.6ms, count=1, min=318.6ms, max=318.6ms + task_sampling_failed: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms + scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=0.8ms, max=2.5ms + mj_forward_sync: mean=321.4us, total=0.6ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:28:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:28:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:43 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:28:43 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: 195] +05/18 16:28:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021484m [env.py: 870] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.05596635 -0.8852504 -0.02148363] yaw=-156.3deg [env.py: 1019] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.30415624 0.01488442 -0.02148363] yaw=-131.4deg [env.py: 1019] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.21881553 -0.88189215 -0.02148363] yaw=-186.1deg [env.py: 1019] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=74.7ms, total=74.7ms [env.py: 1075] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.056, -0.885, -0.021) [env.py: 1079] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.3 deg [env.py: 1082] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.131m [env.py: 1086] +05/18 16:28:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:43 INFO: [Worker 0] Worker 0 house 2 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.829s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:28:45 ERROR: [Worker 0] Worker 0 house 2 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:28:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:28:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:46 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:28:46 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: 195] +05/18 16:28:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.071m, effective arm-mount z=0.789m (base_body_z=-0.071m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.071357m [env.py: 870] +05/18 16:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 136.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.00211511 -0.51341904 -0.07135668] yaw=-182.2deg [env.py: 1019] +05/18 16:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.18283486 -1.37451206 -0.07135668] yaw=145.7deg [env.py: 1019] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.24583803 -0.41419598 -0.07135668] yaw=-148.9deg [env.py: 1019] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.3ms, total=136.4ms [env.py: 1075] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.002, -0.513, -0.071) [env.py: 1079] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.2 deg [env.py: 1082] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.149m [env.py: 1086] +05/18 16:28:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:47 INFO: [Worker 0] Worker 0 house 2 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.034s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.887s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:28:49 ERROR: [Worker 0] Worker 0 house 2 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:28:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:28:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:50 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:28:50 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: 195] +05/18 16:28:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002157m [env.py: 870] +05/18 16:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.51062603 -0.19789211 -0.00215669] yaw=-133.5deg [env.py: 1019] +05/18 16:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.35669367 -0.4170947 -0.00215669] yaw=-162.7deg [env.py: 1019] +05/18 16:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=135.5ms, total=135.6ms [env.py: 1075] +05/18 16:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.511, -0.198, -0.002) [env.py: 1079] +05/18 16:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.5 deg [env.py: 1082] +05/18 16:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/18 16:28:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:50 INFO: [Worker 0] Worker 0 house 2 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.473s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:51 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.477[m] 79.823[deg] [grasp_sample.py: 596] +05/18 16:28:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:28:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:28:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:29:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:29:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:29:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:29:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:29:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:29:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:29:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:29:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:29:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:29:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:29:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:29:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 16:29:43 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.881s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:29:43 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.058[m] 10.596[deg] [grasp_sample.py: 596] +05/18 16:29:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:29:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:29:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:29:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:29:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:29:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:30:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:30:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:06 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.884s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:06 INFO: [Worker 0] Feasible grasp found 190 (originally 75): w/ 0.060[m] 3.532[deg] [grasp_sample.py: 596] +05/18 16:30:07 ERROR: [Worker 0] Worker 0 house 2 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:30:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:30:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:30:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:30:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:09 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:30:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:30:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:30:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028290m [env.py: 870] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:30:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.08207191 -0.7704866 -0.02828978] yaw=-189.3deg [env.py: 1019] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.05813729 -0.2734347 -0.02828978] yaw=-148.7deg [env.py: 1019] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.06176682 -1.53189895 -0.02828978] yaw=162.4deg [env.py: 1019] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:30:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.6ms, total=126.6ms [env.py: 1075] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.082, -0.770, -0.028) [env.py: 1079] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.3 deg [env.py: 1082] +05/18 16:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/18 16:30:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:30:09 INFO: [Worker 0] Worker 0 house 2 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 16:30:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 16:30:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.650s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:10 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.554[m] 80.622[deg] [grasp_sample.py: 596] +05/18 16:30:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:30:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:30:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:30:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:30:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:17 INFO: [Worker 0] Worker 0 house 2 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:31:30 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [pipeline.py: 1174] +05/18 16:31:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_067 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:31:30 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:31:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:31:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [save_utils.py: 785] +05/18 16:31:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_067 in 9.22s (batch: 2.30s, save: 6.92s) [pipeline.py: 300] +05/18 16:31:39 INFO: [Worker 0] [PROFILE] Episode 15 house 2 success=True episode_total=1.19s: + episode_total: mean=43.11s, total=172.43s, count=4, min=2197.2ms, max=90922.7ms + sensor_polling: mean=204.7ms, total=115.67s, count=565, min=187.4ms, max=356.7ms + physics_step: mean=13.6ms, total=7.66s, count=565, min=10.9ms, max=20.7ms + save_trajectories: mean=6.92s, total=6.92s, count=1, min=6918.2ms, max=6918.2ms + save_batch_prep: mean=2.30s, total=2.30s, count=1, min=2302.7ms, max=2302.7ms + task_sampling: mean=296.4ms, total=1.19s, count=4, min=263.0ms, max=308.2ms + task_specific_sample: mean=294.0ms, total=1.18s, count=4, min=259.7ms, max=306.3ms + scene_randomize: mean=1.2ms, total=4.9ms, count=4, min=0.8ms, max=2.3ms + mj_forward_sync: mean=319.7us, total=1.3ms, count=4, min=0.3ms, max=0.3ms + policy_setup: mean=14.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:31:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:31:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:41 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:31:41 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: 195] +05/18 16:31:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.070m, effective arm-mount z=0.790m (base_body_z=-0.070m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.070071m [env.py: 870] +05/18 16:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.08386747 -0.61017816 -0.07007059] yaw=-177.8deg [env.py: 1019] +05/18 16:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.13285143 -1.36130591 -0.07007059] yaw=176.7deg [env.py: 1019] +05/18 16:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=142.1ms, total=142.1ms [env.py: 1075] +05/18 16:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.084, -0.610, -0.070) [env.py: 1079] +05/18 16:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.8 deg [env.py: 1082] +05/18 16:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086] +05/18 16:31:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:41 INFO: [Worker 0] Worker 0 house 2 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.608s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:31:45 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.681[m] 52.741[deg] [grasp_sample.py: 596] +05/18 16:31:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:31:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:31:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:32:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:52 INFO: [Worker 0] Worker 0 house 2 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:33:05 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [pipeline.py: 1174] +05/18 16:33:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_067 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:33:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:33:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:33:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_067 [save_utils.py: 785] +05/18 16:33:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_067 in 9.28s (batch: 2.42s, save: 6.86s) [pipeline.py: 300] +05/18 16:33:15 INFO: [Worker 0] [PROFILE] Episode 16 house 2 success=True episode_total=0.33s: + episode_total: mean=94.29s, total=94.29s, count=1, min=94289.8ms, max=94289.8ms + sensor_polling: mean=204.4ms, total=61.32s, count=300, min=190.4ms, max=357.5ms + save_trajectories: mean=6.86s, total=6.86s, count=1, min=6856.6ms, max=6856.6ms + physics_step: mean=13.6ms, total=4.09s, count=300, min=10.9ms, max=15.1ms + save_batch_prep: mean=2.42s, total=2.42s, count=1, min=2423.5ms, max=2423.5ms + task_sampling: mean=330.9ms, total=330.9ms, count=1, min=330.9ms, max=330.9ms + task_specific_sample: mean=327.6ms, total=327.6ms, count=1, min=327.6ms, max=327.6ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=329.7us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=16.8us, 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] +05/18 16:33:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:33:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:33:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:33:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:16 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:33:16 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: 195] +05/18 16:33:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:33:16 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: 273] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043465m [env.py: 870] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:33:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.36914914 -0.00521289 0.04346531] yaw=-139.6deg [env.py: 1019] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.56935038 -0.17426868 0.04346531] yaw=-110.4deg [env.py: 1019] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.1722245 -0.23121735 0.04346531] yaw=-167.2deg [env.py: 1019] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:33:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.4ms, total=114.4ms [env.py: 1075] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.369, -0.005, 0.043) [env.py: 1079] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.6 deg [env.py: 1082] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.152m [env.py: 1086] +05/18 16:33:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:33:17 INFO: [Worker 0] Worker 0 house 2 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 16:33:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/18 16:33:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:33:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:33:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:33:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.829s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:33:19 ERROR: [Worker 0] Worker 0 house 2 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:33:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:33:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:33:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:20 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:33:20 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: 195] +05/18 16:33:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:33:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.054m, effective arm-mount z=0.806m (base_body_z=-0.054m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.054268m [env.py: 870] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:33:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.4817901 -0.08246917 -0.05426764] yaw=-146.0deg [env.py: 1019] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.09893333 -0.53115048 -0.05426764] yaw=-167.5deg [env.py: 1019] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.1900271 -0.20630637 -0.05426764] yaw=-166.7deg [env.py: 1019] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:33:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=53.0ms, total=53.0ms [env.py: 1075] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.482, -0.082, -0.054) [env.py: 1079] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.0 deg [env.py: 1082] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:33:20 INFO: [Worker 0] Worker 0 house 2 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 16:33:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 16:33:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:33:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:33:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:33:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.834s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:33:22 ERROR: [Worker 0] Worker 0 house 2 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:33:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:33:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:33:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:33:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:23 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:33:23 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: 195] +05/18 16:33:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:33:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.051m, effective arm-mount z=0.809m (base_body_z=-0.051m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.050524m [env.py: 870] +05/18 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:33:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.0909775 -1.40647638 -0.05052357] yaw=164.1deg [env.py: 1019] +05/18 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -89.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:33:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=132.5ms, total=132.5ms [env.py: 1075] +05/18 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.091, -1.406, -0.051) [env.py: 1079] +05/18 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.1 deg [env.py: 1082] +05/18 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.264m [env.py: 1086] +05/18 16:33:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:33:24 INFO: [Worker 0] Worker 0 house 2 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 16:33:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 16:33:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:33:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:33:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:33:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.928s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:33:26 ERROR: [Worker 0] Worker 0 house 2 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:33:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:33:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:33:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:33:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:27 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:33:27 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: 195] +05/18 16:33:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:33:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048259m [env.py: 870] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:33:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 139.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.09906724 -0.0587357 -0.04825891] yaw=-161.4deg [env.py: 1019] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.07587443 -0.189482 -0.04825891] yaw=-147.8deg [env.py: 1019] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.37427138 -0.28134735 -0.04825891] yaw=-151.5deg [env.py: 1019] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:33:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.9ms, total=113.9ms [env.py: 1075] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.099, -0.059, -0.048) [env.py: 1079] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.4 deg [env.py: 1082] +05/18 16:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.298m [env.py: 1086] +05/18 16:33:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:33:27 INFO: [Worker 0] Worker 0 house 2 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 16:33:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:33:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:33:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:33:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:33:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.863s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:33:29 ERROR: [Worker 0] Worker 0 house 2 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:33:29 WARNING: [Worker 0] Asset Fridge_m_2 (hash: ced2e34b7080d5dfaeb602c72825d9cf) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/18 16:33:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:33:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:33:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:33:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:31 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:33:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:33:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:33:31 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: 273] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015880m [env.py: 870] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:33:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 135.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.13743216 -1.04049688 0.01587993] yaw=185.0deg [env.py: 1019] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.11533381 -0.1365173 0.01587993] yaw=-140.9deg [env.py: 1019] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.25983143 -1.33177359 0.01587993] yaw=134.4deg [env.py: 1019] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:33:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.1ms, total=135.1ms [env.py: 1075] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.137, -1.040, 0.016) [env.py: 1079] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.0 deg [env.py: 1082] +05/18 16:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/18 16:33:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:33:31 INFO: [Worker 0] Worker 0 house 2 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 16:33:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:33:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:33:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:33:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:33:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.694s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:33:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.695[m] 76.329[deg] [grasp_sample.py: 596] +05/18 16:33:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:33:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:33:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:33:32 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_2house/sim/house_2/chunk_067/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_2/chunk_067/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0b0ce235f2f6ac5a4344e426a169a97a087c0d1f --- /dev/null +++ b/fridge_m_2house/sim/house_2/chunk_067/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f58a4cbefc21c0491a91858fd61492d861fa88e32126bcbb5af8c69bab2c2a9 +size 687883869