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index 0000000000000000000000000000000000000000..44545a3d7094b4da7dc4b8096c45726d53607e3c --- /dev/null +++ b/fridge_m_0.7_pd/chunk_015/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65d2ccee58618ef60daa868959fcffe8d56cc4a6ad5ab1f5cfadb194fb6d5a45 +size 532385 diff --git a/fridge_m_0.7_pd/chunk_015/episode_00000012_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_015/episode_00000012_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7ef7023426f863d0bc6e7f7dea8f1bc7b1ee6732 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_015/episode_00000012_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1de0ff77ce194043640c70e93a67562f015fd4613290fba8d9e0a9f6a7949b1b +size 572346 diff --git a/fridge_m_0.7_pd/chunk_015/episode_00000012_wrist_camera_batch_1_of_4_cam_rand.mp4 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sha256:efe89de4b220db3cac61e380324aff86adefdbb854b68e23f420c7eeb30f8b4f +size 121860 diff --git a/fridge_m_0.7_pd/chunk_015/episode_00000012_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_015/episode_00000012_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b64450f904640c11797950ed5cdaef66a5c8f725 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_015/episode_00000012_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5616cb2105ddf2e18b9ce3b5a446e41f3a2077f94d2b9eaa246854f2ca5dfd41 +size 357082 diff --git a/fridge_m_0.7_pd/chunk_015/running_log.log b/fridge_m_0.7_pd/chunk_015/running_log.log index 849bd68f6b4cdf5542b2c8543fda622cf03c2a16..5f00bb5f7f2636c4e4fad102d74fa0140acc6825 100644 --- a/fridge_m_0.7_pd/chunk_015/running_log.log +++ b/fridge_m_0.7_pd/chunk_015/running_log.log @@ -4857,3 +4857,1672 @@ [open_close_planner_policy.py: 225] 05/12 14:10:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] 05/12 14:10:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:10:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:10:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:10:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:10:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:10:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:10:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:10:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:10:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:10:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:10:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:10:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:10:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:10:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 14:10:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.693s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:10:37 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.336[deg] [grasp_sample.py: 539] +05/12 14:10:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:10:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:10:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:10:40 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:10:44 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:10:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:10:55 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:10:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:11:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:11:08 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:11:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 14:11:08 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/12 14:11:13 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:11:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 14:11:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:11:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:11:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:11:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.76s (batch: 5.01s, save: 11.75s) [pipeline.py: 300] +05/12 14:11:25 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:11:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 14:11:25 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:11:25 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.09s: + episode_total: mean=100.88s, total=201.77s, count=2, min=4939.6ms, max=196827.6ms + sensor_polling: mean=471.7ms, total=138.21s, count=293, min=401.1ms, max=964.5ms + save_trajectories: mean=11.75s, total=11.75s, count=1, min=11753.5ms, max=11753.5ms + physics_step: mean=28.6ms, total=8.38s, count=293, min=17.7ms, max=70.5ms + save_batch_prep: mean=5.01s, total=5.01s, count=1, min=5006.8ms, max=5006.8ms + task_sampling: mean=545.6ms, total=1.09s, count=2, min=478.1ms, max=613.0ms + task_specific_sample: mean=541.4ms, total=1.08s, count=2, min=474.3ms, max=608.6ms + scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.3ms, max=1.9ms + mj_forward_sync: mean=529.8us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=18.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:11:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:11:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:11:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:11:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:11:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:11:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:11:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:11:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:11:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056558m [env.py: 870] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:11:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85444443 1.09831697 0.0565576 ] yaw=-104.9deg [env.py: 1019] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99387412 0.99605842 0.0565576 ] yaw=-133.9deg [env.py: 1019] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.15597273 1.08656266 0.0565576 ] yaw=-135.6deg [env.py: 1019] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:11:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.9ms, total=177.9ms [env.py: 1075] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.854, 1.098, 0.057) [env.py: 1079] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.9 deg [env.py: 1082] +05/12 14:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m [env.py: 1086] +05/12 14:11:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:11:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:11:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:11:28 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 14:11:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 14:11:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:11:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:11:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:11:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:11:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:11:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 15.85s (batch: 4.39s, save: 11.46s) [pipeline.py: 300] +05/12 14:11:30 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.81s: + episode_total: mean=215.82s, total=215.82s, count=1, min=215817.3ms, max=215817.3ms + sensor_polling: mean=476.1ms, total=142.82s, count=300, min=389.7ms, max=1007.9ms + save_trajectories: mean=11.46s, total=11.46s, count=1, min=11460.5ms, max=11460.5ms + physics_step: mean=28.7ms, total=8.61s, count=300, min=16.2ms, max=56.6ms + save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4386.7ms, max=4386.7ms + task_sampling: mean=812.2ms, total=812.2ms, count=1, min=812.2ms, max=812.2ms + task_specific_sample: mean=806.9ms, total=806.9ms, count=1, min=806.9ms, max=806.9ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=633.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=38.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:11:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.723s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:11:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.737[m] 101.404[deg] [grasp_sample.py: 539] +05/12 14:11:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:11:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:11:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:11:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:11:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:11:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:11:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:11:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:11:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095599m [env.py: 870] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:11:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99039148 1.13809595 0.09559887] yaw=-111.8deg [env.py: 1019] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66998455 0.64784303 0.09559887] yaw=-184.7deg [env.py: 1019] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91993328 0.16330337 0.09559887] yaw=132.1deg [env.py: 1019] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:11:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=357.6ms, total=357.7ms [env.py: 1075] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 1.138, 0.096) [env.py: 1079] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -111.8 deg [env.py: 1082] +05/12 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/12 14:11:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:11:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:11:32 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:11:32 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 14:11:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:11:32 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 14:11:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/12 14:11:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:11:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:11:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:11:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:11:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:11:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:11:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:11:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:11:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:11:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:11:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:11:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029002m [env.py: 870] +05/12 14:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:11:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89894564 0.53097185 0.02900239] yaw=-201.0deg [env.py: 1019] +05/12 14:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83604382 1.07030706 0.02900239] yaw=-118.4deg [env.py: 1019] +05/12 14:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81919014 0.14312295 0.02900239] yaw=182.7deg [env.py: 1019] +05/12 14:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:11:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.3ms, total=96.3ms [env.py: 1075] +05/12 14:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.531, 0.029) [env.py: 1079] +05/12 14:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -201.0 deg [env.py: 1082] +05/12 14:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/12 14:11:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:11:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:11:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:11:34 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 14:11:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 14:11:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:11:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:11:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:11:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.837s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:11:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.400[m] 78.125[deg] [grasp_sample.py: 539] +05/12 14:11:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:11:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:11:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:11:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:11:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:11:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.22s (batch: 4.91s, save: 11.30s) [pipeline.py: 300] +05/12 14:11:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 9.518s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:11:42 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.608[m] 89.317[deg] [grasp_sample.py: 539] +05/12 14:11:42 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.48s: + episode_total: mean=197.40s, total=197.40s, count=1, min=197399.1ms, max=197399.1ms + sensor_polling: mean=457.4ms, total=137.22s, count=300, min=377.3ms, max=987.8ms + save_trajectories: mean=11.30s, total=11.30s, count=1, min=11301.4ms, max=11301.4ms + physics_step: mean=29.2ms, total=8.75s, count=300, min=18.6ms, max=44.9ms + save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4914.3ms, max=4914.3ms + task_sampling: mean=484.7ms, total=484.7ms, count=1, min=484.7ms, max=484.7ms + task_specific_sample: mean=477.0ms, total=477.0ms, count=1, min=477.0ms, max=477.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=832.0us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:11:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:11:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:11:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:11:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:11:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:11:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:11:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:11:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:11:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:11:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:11:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:11:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:11:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:11:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037168m [env.py: 870] +05/12 14:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:11:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82641404 0.23122264 0.03716785] yaw=149.9deg [env.py: 1019] +05/12 14:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76307209 0.2832457 0.03716785] yaw=150.9deg [env.py: 1019] +05/12 14:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:11:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=395.5ms, total=395.6ms [env.py: 1075] +05/12 14:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.826, 0.231, 0.037) [env.py: 1079] +05/12 14:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.9 deg [env.py: 1082] +05/12 14:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/12 14:11:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:11:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:11:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:11:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:11:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:11:44 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 14:11:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/12 14:11:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:11:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:11:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:11:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.899s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:11:46 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.520[m] 96.285[deg] [grasp_sample.py: 539] +05/12 14:11:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:11:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:11:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:11:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:11:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:11:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:11:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:12:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:12:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:12:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:12:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:12:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:12:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:12:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:12:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:12:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:12:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 84 non-colliding grasps [grasp_sample.py: 465] +05/12 14:12:10 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.707s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:12:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.054[m] 10.056[deg] [grasp_sample.py: 539] +05/12 14:12:12 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:12:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:12:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:12:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:12:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:12:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:12:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:12:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:12:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:12:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:12:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041127m [env.py: 870] +05/12 14:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:12:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89298728 0.82989405 0.0411271 ] yaw=-168.4deg [env.py: 1019] +05/12 14:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74805501 0.11732408 0.0411271 ] yaw=195.1deg [env.py: 1019] +05/12 14:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:12:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=308.6ms, total=308.6ms [env.py: 1075] +05/12 14:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.830, 0.041) [env.py: 1079] +05/12 14:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.4 deg [env.py: 1082] +05/12 14:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m [env.py: 1086] +05/12 14:12:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:12:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:12:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:12:14 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 14:12:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 14:12:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:12:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:12:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:12:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.084s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:12:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.445[m] 90.079[deg] [grasp_sample.py: 539] +05/12 14:12:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:12:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:12:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:12:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:12:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:12:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:12:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:12:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:12:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:12:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:12:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:12:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:13:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:13:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:13:27 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 14:13:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:13:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:13:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:13:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 14:13:27 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.735s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:13:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.219[m] 2.063[deg] [grasp_sample.py: 539] +05/12 14:13:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:13:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:13:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:13:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:13:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:13:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:14:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:14:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:14:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:14:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:14:10 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:14:11 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 14:14:11 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.71s: + episode_total: mean=159.09s, total=159.09s, count=1, min=159087.8ms, max=159087.8ms + sensor_polling: mean=455.4ms, total=136.61s, count=300, min=378.5ms, max=1015.6ms + physics_step: mean=27.6ms, total=8.27s, count=300, min=21.6ms, max=39.5ms + task_sampling: mean=709.0ms, total=709.0ms, count=1, min=709.0ms, max=709.0ms + task_specific_sample: mean=705.3ms, total=705.3ms, count=1, min=705.3ms, max=705.3ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=455.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:14:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:14:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:14:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:14:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:14:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:14:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 14:14:13 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.625s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:14:13 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.615[deg] [grasp_sample.py: 539] +05/12 14:14:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:14:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:14:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:14:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:14:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:14:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:14:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:14:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:14:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:14:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:14:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036018m [env.py: 870] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:14:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04935095 1.09152674 0.0360184 ] yaw=-129.0deg [env.py: 1019] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93370987 1.25405193 0.0360184 ] yaw=-110.0deg [env.py: 1019] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75807136 -0.01838034 0.0360184 ] yaw=138.6deg [env.py: 1019] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:14:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=257.4ms, total=257.5ms [env.py: 1075] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.049, 1.092, 0.036) [env.py: 1079] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.0 deg [env.py: 1082] +05/12 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/12 14:14:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:14:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:14:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:14:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:14:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:14:14 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 14:14:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/12 14:14:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:14:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:14:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:14:15 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:14:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.265s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:14:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.472[m] 84.702[deg] [grasp_sample.py: 539] +05/12 14:14:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:14:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:14:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:14:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:14:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:14:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:14:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:14:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:14:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:14:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:14:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:14:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000248m [env.py: 870] +05/12 14:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:14:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-8.52631199e-01 2.64265773e-01 2.47609269e-04] yaw=172.0deg [env.py: 1019] +05/12 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-8.02631534e-01 8.47374012e-01 2.47609269e-04] yaw=-161.0deg [env.py: 1019] +05/12 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.03295820e-01 3.84153698e-01 2.47609269e-04] yaw=168.3deg [env.py: 1019] +05/12 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:14:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=206.5ms, total=206.6ms [env.py: 1075] +05/12 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.264, 0.000) [env.py: 1079] +05/12 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.0 deg [env.py: 1082] +05/12 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/12 14:14:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:14:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:14:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:14:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:14:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:14:17 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 14:14:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 14:14:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:14:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:14:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:14:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.877s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:14:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.416[m] 85.464[deg] [grasp_sample.py: 539] +05/12 14:14:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:14:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:14:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:14:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:14:38 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:14:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 14:14:38 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/12 14:14:41 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:14:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:14:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:14:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.28s (batch: 4.27s, save: 12.01s) [pipeline.py: 300] +05/12 14:14:55 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.87s: + episode_total: mean=103.00s, total=206.00s, count=2, min=4969.3ms, max=201027.0ms + sensor_polling: mean=472.4ms, total=141.26s, count=299, min=397.6ms, max=871.9ms + save_trajectories: mean=12.01s, total=12.01s, count=1, min=12011.4ms, max=12011.4ms + physics_step: mean=30.3ms, total=9.06s, count=299, min=17.1ms, max=39.8ms + save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4270.2ms, max=4270.2ms + task_sampling: mean=436.3ms, total=872.6ms, count=2, min=352.1ms, max=520.5ms + task_specific_sample: mean=431.8ms, total=863.6ms, count=2, min=347.4ms, max=516.2ms + scene_randomize: mean=2.8ms, total=5.5ms, count=2, min=2.6ms, max=3.0ms + mj_forward_sync: mean=487.9us, total=1.0ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:14:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:14:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:14:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:14:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:14:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:14:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:14:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:14:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:14:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075882m [env.py: 870] +05/12 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:14:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64442211 0.24921702 0.0758824 ] yaw=129.4deg [env.py: 1019] +05/12 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96462243 0.6351025 0.0758824 ] yaw=-153.0deg [env.py: 1019] +05/12 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73926164 0.28017894 0.0758824 ] yaw=194.5deg [env.py: 1019] +05/12 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:14:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.1ms, total=172.1ms [env.py: 1075] +05/12 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.644, 0.249, 0.076) [env.py: 1079] +05/12 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 129.4 deg [env.py: 1082] +05/12 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/12 14:14:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:14:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:14:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:14:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:14:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:14:57 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 14:14:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 14:14:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:14:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:14:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:14:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:14:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:15:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.532s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:15:00 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.776[m] 104.708[deg] [grasp_sample.py: 539] +05/12 14:15:01 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:15:03 WARNING: [Worker 0] No trajectory data to save for chunk_015 [pipeline.py: 234] +05/12 14:15:03 WARNING: [Worker 0] No trajectory data to save for chunk_015 [pipeline.py: 234] +05/12 14:15:03 INFO: [Worker 0] Worker 0 completed house 1: 7/8 successful episodes [pipeline.py: 1323] +05/12 14:15:03 INFO: [Worker 0] [PROFILE] House 1 complete: 7/8 successful, 8 episodes, total_time=4512.99s + House averages: + episode_total: mean=139.81s, total=2516.55s, count=18, min=3535.2ms, max=233819.2ms + sensor_polling: mean=463.7ms, total=1739.34s, count=3751, min=388.9ms, max=964.5ms + physics_step: mean=28.3ms, total=106.16s, count=3751, min=14.9ms, max=85.0ms + save_trajectories: mean=12.07s, total=84.49s, count=7, min=11356.6ms, max=13176.6ms + save_batch_prep: mean=4.58s, total=32.06s, count=7, min=4250.6ms, max=5006.8ms + task_sampling: mean=786.2ms, total=14.15s, count=18, min=352.1ms, max=5315.6ms + task_specific_sample: mean=539.8ms, total=9.72s, count=18, min=347.4ms, max=953.2ms + scene_load: mean=4.36s, total=4.36s, count=1, min=4359.6ms, max=4359.6ms + scene_env_create: mean=2.54s, total=2.54s, count=1, min=2536.0ms, max=2536.0ms + scene_compile: mean=1.64s, total=1.64s, count=1, min=1641.4ms, max=1641.4ms + compile_mujoco: mean=1.26s, total=1.26s, count=1, min=1255.8ms, max=1255.8ms + compile_xml_load: mean=285.4ms, total=285.4ms, count=1, min=285.4ms, max=285.4ms + scene_init: mean=118.5ms, total=118.5ms, count=1, min=118.5ms, max=118.5ms + scene_asset_install: mean=63.3ms, total=63.3ms, count=1, min=63.3ms, max=63.3ms + compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + asset_install_grasps: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms + scene_randomize: mean=2.3ms, total=40.5ms, count=18, min=1.2ms, max=3.5ms + compile_robot_add: mean=34.7ms, total=34.7ms, count=1, min=34.7ms, max=34.7ms + asset_install_objects: mean=13.7ms, total=13.7ms, count=1, min=13.7ms, max=13.7ms + mj_forward_sync: mean=550.6us, total=9.9ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms + policy_setup: mean=21.9us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 14:15:03 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 14:15:03 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=4512.99s + Worker averages: + episode_total: mean=139.81s, total=2516.55s, count=18, min=3535.2ms, max=233819.2ms + sensor_polling: mean=463.7ms, total=1739.34s, count=3751, min=388.9ms, max=964.5ms + physics_step: mean=28.3ms, total=106.16s, count=3751, min=14.9ms, max=85.0ms + save_trajectories: mean=12.07s, total=84.49s, count=7, min=11356.6ms, max=13176.6ms + save_batch_prep: mean=4.58s, total=32.06s, count=7, min=4250.6ms, max=5006.8ms + task_sampling: mean=786.2ms, total=14.15s, count=18, min=352.1ms, max=5315.6ms + task_specific_sample: mean=539.8ms, total=9.72s, count=18, min=347.4ms, max=953.2ms + scene_load: mean=4.36s, total=4.36s, count=1, min=4359.6ms, max=4359.6ms + scene_env_create: mean=2.54s, total=2.54s, count=1, min=2536.0ms, max=2536.0ms + scene_compile: mean=1.64s, total=1.64s, count=1, min=1641.4ms, max=1641.4ms + compile_mujoco: mean=1.26s, total=1.26s, count=1, min=1255.8ms, max=1255.8ms + compile_xml_load: mean=285.4ms, total=285.4ms, count=1, min=285.4ms, max=285.4ms + scene_init: mean=118.5ms, total=118.5ms, count=1, min=118.5ms, max=118.5ms + scene_asset_install: mean=63.3ms, total=63.3ms, count=1, min=63.3ms, max=63.3ms + compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + asset_install_grasps: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms + scene_randomize: mean=2.3ms, total=40.5ms, count=18, min=1.2ms, max=3.5ms + compile_robot_add: mean=34.7ms, total=34.7ms, count=1, min=34.7ms, max=34.7ms + asset_install_objects: mean=13.7ms, total=13.7ms, count=1, min=13.7ms, max=13.7ms + mj_forward_sync: mean=550.6us, total=9.9ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms + policy_setup: mean=21.9us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 14:15:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:15:06 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 14:15:06 INFO: Success count: 7, Total count: 8 [pipeline.py: 1491] +05/12 14:15:06 INFO: Success rate: 87.50% [pipeline.py: 1492] +05/12 14:15:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:15:10 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:15:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 14:15:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:15:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:15:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:15:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:15:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:15:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.23s (batch: 4.81s, save: 11.42s) [pipeline.py: 300] +05/12 14:15:26 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.30s: + episode_total: mean=162.43s, total=324.85s, count=2, min=132219.2ms, max=192632.8ms + sensor_polling: mean=439.2ms, total=238.49s, count=543, min=374.0ms, max=903.7ms + physics_step: mean=27.3ms, total=14.81s, count=543, min=21.5ms, max=41.7ms + save_trajectories: mean=11.42s, total=11.42s, count=1, min=11417.8ms, max=11417.8ms + save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4808.7ms, max=4808.7ms + task_sampling: mean=647.8ms, total=1.30s, count=2, min=598.7ms, max=697.0ms + task_specific_sample: mean=643.9ms, total=1.29s, count=2, min=594.9ms, max=693.0ms + scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.6ms, max=2.5ms + mj_forward_sync: mean=561.5us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=19.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:15:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:15:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:15:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:15:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:15:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:15:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:15:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:15:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:15:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054971m [env.py: 870] +05/12 14:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:15:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86384367 0.51568257 0.05497078] yaw=-160.7deg [env.py: 1019] +05/12 14:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:15:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.6ms, total=203.6ms [env.py: 1075] +05/12 14:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.516, 0.055) [env.py: 1079] +05/12 14:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.7 deg [env.py: 1082] +05/12 14:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/12 14:15:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:15:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:15:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:15:28 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 14:15:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 14:15:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:15:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:15:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:15:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.796s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:15:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 93.171[deg] [grasp_sample.py: 539] +05/12 14:15:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:15:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:15:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:15:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:16:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:16:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:16:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:16:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:16:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:16:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:16:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:16:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 14:16:33 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.723s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:16:33 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.054[m] 0.989[deg] [grasp_sample.py: 539] +05/12 14:16:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:16:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:16:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:16:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:16:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:16:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:16:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:16:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 14:16:35 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.671s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:16:35 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.975[deg] [grasp_sample.py: 539] +05/12 14:16:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:16:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:16:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:16:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:16:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:16:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:16:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:16:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/12 14:16:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:10 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:16:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:16:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:16:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:16:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 14:16:38 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.758s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:16:38 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.967[deg] [grasp_sample.py: 539] +05/12 14:16:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:16:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:16:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:16:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:16:46 INFO: [Worker 0] Feasibility-checked 70 grasps in 9.342s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:16:46 INFO: [Worker 0] Feasible grasp found 173 (originally 58): w/ 0.138[m] 12.644[deg] [grasp_sample.py: 539] +05/12 14:16:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:16:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:16:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:16:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:16:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:56 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:16:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:16:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:17:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:17:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:17:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:17:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:17:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:17:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:17:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:17:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 14:17:06 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.741s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:17:06 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.054[m] 7.751[deg] [grasp_sample.py: 539] +05/12 14:17:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:17:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:17:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:17:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:17:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:17:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:17:13 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:17:24 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:17:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 14:17:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:17:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:17:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:17:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.11s (batch: 5.36s, save: 10.75s) [pipeline.py: 300] +05/12 14:17:41 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.21s: + episode_total: mean=177.56s, total=355.12s, count=2, min=150783.3ms, max=204340.9ms + sensor_polling: mean=443.6ms, total=249.72s, count=563, min=378.8ms, max=877.8ms + physics_step: mean=27.5ms, total=15.45s, count=563, min=18.3ms, max=56.4ms + save_trajectories: mean=10.75s, total=10.75s, count=1, min=10745.3ms, max=10745.3ms + save_batch_prep: mean=5.36s, total=5.36s, count=1, min=5360.0ms, max=5360.0ms + task_sampling: mean=604.4ms, total=1.21s, count=2, min=472.6ms, max=736.2ms + task_specific_sample: mean=600.0ms, total=1.20s, count=2, min=468.1ms, max=732.0ms + scene_randomize: mean=2.6ms, total=5.2ms, count=2, min=2.5ms, max=2.8ms + mj_forward_sync: mean=579.1us, total=1.2ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:17:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:17:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:17:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:17:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:17:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:17:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:17:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:17:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:17:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063588m [env.py: 870] +05/12 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:17:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7697505 0.49609184 0.063588 ] yaw=-204.9deg [env.py: 1019] +05/12 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96903719 0.08473905 0.063588 ] yaw=164.4deg [env.py: 1019] +05/12 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.60911581 0.44651855 0.063588 ] yaw=157.6deg [env.py: 1019] +05/12 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:17:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=115.3ms, total=115.3ms [env.py: 1075] +05/12 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.496, 0.064) [env.py: 1079] +05/12 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -204.9 deg [env.py: 1082] +05/12 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m [env.py: 1086] +05/12 14:17:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:17:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:17:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:17:43 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 14:17:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/12 14:17:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:17:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:17:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:17:43 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:17:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 14:17:43 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:17:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.908s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:17:44 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.555[m] 85.619[deg] [grasp_sample.py: 539] +05/12 14:17:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:17:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:17:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:17:47 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:17:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:17:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:17:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.09s (batch: 5.28s, save: 10.81s) [pipeline.py: 300] +05/12 14:18:00 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.53s: + episode_total: mean=227.35s, total=227.35s, count=1, min=227351.1ms, max=227351.1ms + sensor_polling: mean=435.3ms, total=130.59s, count=300, min=368.5ms, max=950.5ms + save_trajectories: mean=10.81s, total=10.81s, count=1, min=10812.1ms, max=10812.1ms + physics_step: mean=27.0ms, total=8.11s, count=300, min=21.7ms, max=62.6ms + save_batch_prep: mean=5.28s, total=5.28s, count=1, min=5280.2ms, max=5280.2ms + task_sampling: mean=527.2ms, total=527.2ms, count=1, min=527.2ms, max=527.2ms + task_specific_sample: mean=523.5ms, total=523.5ms, count=1, min=523.5ms, max=523.5ms + scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms + mj_forward_sync: mean=468.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:18:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:18:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:18:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:18:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:18:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:18:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:18:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:18:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:18:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073463m [env.py: 870] +05/12 14:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:18:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7735962 0.17660232 0.07346344] yaw=163.7deg [env.py: 1019] +05/12 14:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.72296703 0.36636967 0.07346344] yaw=147.3deg [env.py: 1019] +05/12 14:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.83109609 0.13797457 0.07346344] yaw=136.7deg [env.py: 1019] +05/12 14:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:18:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=243.0ms, total=243.0ms [env.py: 1075] +05/12 14:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.774, 0.177, 0.073) [env.py: 1079] +05/12 14:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.7 deg [env.py: 1082] +05/12 14:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 14:18:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:18:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:18:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:18:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:18:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:18:03 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 14:18:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/12 14:18:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:18:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:18:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:18:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.294s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:18:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.543[m] 92.835[deg] [grasp_sample.py: 539] +05/12 14:18:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:18:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:18:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:18:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:18:14 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:18:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 14:18:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:18:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:18:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:18:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 15.87s (batch: 3.95s, save: 11.92s) [pipeline.py: 300] +05/12 14:18:31 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.52s: + episode_total: mean=182.96s, total=182.96s, count=1, min=182958.3ms, max=182958.3ms + sensor_polling: mean=423.5ms, total=127.04s, count=300, min=367.3ms, max=762.9ms + save_trajectories: mean=11.92s, total=11.92s, count=1, min=11916.2ms, max=11916.2ms + physics_step: mean=26.2ms, total=7.86s, count=300, min=21.7ms, max=33.8ms + save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3952.2ms, max=3952.2ms + task_sampling: mean=518.0ms, total=518.0ms, count=1, min=518.0ms, max=518.0ms + task_specific_sample: mean=513.3ms, total=513.3ms, count=1, min=513.3ms, max=513.3ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=620.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:18:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:18:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:18:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:18:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:18:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:18:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:18:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:18:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:18:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078087m [env.py: 870] +05/12 14:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:18:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:18:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1116815 1.16867444 0.07808682] yaw=-155.2deg [env.py: 1019] +05/12 14:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92624153 0.41263147 0.07808682] yaw=171.4deg [env.py: 1019] +05/12 14:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92010507 0.21458928 0.07808682] yaw=160.9deg [env.py: 1019] +05/12 14:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:18:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=308.1ms, total=308.2ms [env.py: 1075] +05/12 14:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.112, 1.169, 0.078) [env.py: 1079] +05/12 14:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.2 deg [env.py: 1082] +05/12 14:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/12 14:18:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:18:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:18:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:18:33 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 14:18:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 14:18:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:18:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:18:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:18:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.691s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:18:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.550[m] 84.016[deg] [grasp_sample.py: 539] +05/12 14:18:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:18:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:18:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:18:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:18:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:18:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:19:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:19:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:19:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:19:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:19:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:20:06 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:20:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:20:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:20:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:20:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:20:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:20:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:20:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:20:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:20:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:20:33 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:20:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 14:20:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:20:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:20:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:20:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:20:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:20:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:20:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:20:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:20:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:20:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 14:20:38 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.715s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:20:38 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.311[deg] [grasp_sample.py: 539] +05/12 14:20:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:20:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:20:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:20:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:20:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:20:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 14:20:40 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:20:41 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.695s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:20:41 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.412[deg] [grasp_sample.py: 539] +05/12 14:20:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:20:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:20:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:20:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:20:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:20:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:20:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:20:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:20:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076484m [env.py: 870] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:20:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98576159 0.25576481 0.07648356] yaw=196.7deg [env.py: 1019] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81477891 0.81546996 0.07648356] yaw=-162.2deg [env.py: 1019] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74228471 0.55135866 0.07648356] yaw=-196.4deg [env.py: 1019] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:20:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.5ms, total=149.5ms [env.py: 1075] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.986, 0.256, 0.076) [env.py: 1079] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 196.7 deg [env.py: 1082] +05/12 14:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m [env.py: 1086] +05/12 14:20:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:20:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:20:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:20:42 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 14:20:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 14:20:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:20:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:20:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:20:42 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:20:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.073s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:20:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.448[m] 85.961[deg] [grasp_sample.py: 539] +05/12 14:20:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:20:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:20:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:20:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:20:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:20:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:20:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:20:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:20:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:20:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:20:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:20:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:20:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:20:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000981m [env.py: 870] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:20:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.08486787e+00 9.34898223e-01 9.81069498e-04] yaw=-110.5deg [env.py: 1019] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87009175 0.15551373 0.00098107] yaw=191.5deg [env.py: 1019] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:20:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.8ms, total=214.8ms [env.py: 1075] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.085, 0.935, 0.001) [env.py: 1079] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -110.5 deg [env.py: 1082] +05/12 14:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m [env.py: 1086] +05/12 14:20:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:20:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:20:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:20:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:20:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:20:44 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 14:20:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:20:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 14:20:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:20:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:20:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:20:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.016s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:20:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.450[m] 92.697[deg] [grasp_sample.py: 539] +05/12 14:20:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:20:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:20:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:20:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:20:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:20:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 15.29s (batch: 4.17s, save: 11.12s) [pipeline.py: 300] +05/12 14:20:49 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.45s: + episode_total: mean=186.61s, total=186.61s, count=1, min=186609.1ms, max=186609.1ms + sensor_polling: mean=418.8ms, total=125.64s, count=300, min=367.5ms, max=810.2ms + save_trajectories: mean=11.12s, total=11.12s, count=1, min=11116.1ms, max=11116.1ms + physics_step: mean=26.4ms, total=7.93s, count=300, min=17.7ms, max=63.7ms + save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4171.7ms, max=4171.7ms + task_sampling: mean=454.9ms, total=454.9ms, count=1, min=454.9ms, max=454.9ms + task_specific_sample: mean=450.4ms, total=450.4ms, count=1, min=450.4ms, max=450.4ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=604.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:20:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:20:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:20:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:20:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:20:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:20:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:20:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:20:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:20:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058510m [env.py: 870] +05/12 14:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:20:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7341371 0.78691539 0.05851033] yaw=-160.5deg [env.py: 1019] +05/12 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.62875191 0.48011989 0.05851033] yaw=189.1deg [env.py: 1019] +05/12 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98467659 1.08303118 0.05851033] yaw=-171.7deg [env.py: 1019] +05/12 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:20:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.8ms, total=172.9ms [env.py: 1075] +05/12 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.734, 0.787, 0.059) [env.py: 1079] +05/12 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.5 deg [env.py: 1082] +05/12 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m [env.py: 1086] +05/12 14:20:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:20:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:20:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:20:51 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 14:20:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 14:20:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:20:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:20:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:20:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.192s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:20:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.578[m] 91.036[deg] [grasp_sample.py: 539] +05/12 14:20:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:20:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:20:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:20:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:21:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:21:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:21:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:21:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:21:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:21:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:21:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:21:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:21:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:22:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:22:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:22:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:22:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:22:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:22:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:22:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:22:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:22:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:22:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:22:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:22:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:22:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 14:22:28 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.971s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:22:28 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.721[deg] [grasp_sample.py: 539] +05/12 14:22:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:22:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:22:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:22:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:22:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:22:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:22:59 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:23:09 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:23:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:23:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:23:30 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:23:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 14:23:30 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:23:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:23:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:23:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:23:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:23:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:23:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:23:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:23:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:23:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 14:23:35 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:23:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 14:23:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:23:39 INFO: [Worker 0] Feasibility-checked 80 grasps in 4.216s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:23:39 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.111[m] 1.379[deg] [grasp_sample.py: 539] +05/12 14:23:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:23:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:23:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:23:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:23:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:23:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 15.29s (batch: 4.37s, save: 10.92s) [pipeline.py: 300] +05/12 14:23:46 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.11s: + episode_total: mean=155.79s, total=311.58s, count=2, min=129962.5ms, max=181620.0ms + sensor_polling: mean=416.8ms, total=226.33s, count=543, min=360.7ms, max=823.1ms + physics_step: mean=26.0ms, total=14.10s, count=543, min=16.8ms, max=35.1ms + save_trajectories: mean=10.92s, total=10.92s, count=1, min=10919.5ms, max=10919.5ms + save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4372.5ms, max=4372.5ms + task_sampling: mean=554.4ms, total=1.11s, count=2, min=488.9ms, max=619.9ms + task_specific_sample: mean=550.8ms, total=1.10s, count=2, min=485.8ms, max=615.8ms + scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms + mj_forward_sync: mean=457.5us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:23:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:23:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:23:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:23:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:23:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:23:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:23:47 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: 178] +05/12 14:23:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:23:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051978m [env.py: 870] +05/12 14:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:23:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78165855 0.70000876 0.05197831] yaw=-195.1deg [env.py: 1019] +05/12 14:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97201618 0.24386784 0.05197831] yaw=154.4deg [env.py: 1019] +05/12 14:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:23:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=228.2ms, total=228.3ms [env.py: 1075] +05/12 14:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.700, 0.052) [env.py: 1079] +05/12 14:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -195.1 deg [env.py: 1082] +05/12 14:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/12 14:23:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:23:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:23:48 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:23:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:23:48 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 14:23:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 14:23:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:23:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:23:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:23:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.872s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:23:49 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.612[m] 94.522[deg] [grasp_sample.py: 539] +05/12 14:23:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:23:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:23:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:23:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:23:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:23:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.95s (batch: 4.00s, save: 10.96s) [pipeline.py: 300] +05/12 14:23:51 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.48s: + episode_total: mean=180.82s, total=180.82s, count=1, min=180815.3ms, max=180815.3ms + sensor_polling: mean=420.8ms, total=126.23s, count=300, min=376.8ms, max=867.7ms + save_trajectories: mean=10.96s, total=10.96s, count=1, min=10955.8ms, max=10955.8ms + physics_step: mean=25.2ms, total=7.57s, count=300, min=17.0ms, max=36.0ms + save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3995.7ms, max=3995.7ms + task_sampling: mean=482.4ms, total=482.4ms, count=1, min=482.4ms, max=482.4ms + task_specific_sample: mean=478.5ms, total=478.5ms, count=1, min=478.5ms, max=478.5ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=469.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:23:53 WARNING: [Worker 0] No trajectory data to save for chunk_015 [pipeline.py: 234] +05/12 14:23:53 WARNING: [Worker 0] No trajectory data to save for chunk_015 [pipeline.py: 234] +05/12 14:23:53 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes [pipeline.py: 1323] +05/12 14:23:53 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=5466.59s + House averages: + episode_total: mean=169.31s, total=3047.50s, count=18, min=3564.8ms, max=251391.5ms + sensor_polling: mean=443.1ms, total=2077.32s, count=4688, min=367.5ms, max=987.8ms + physics_step: mean=27.6ms, total=129.51s, count=4688, min=16.9ms, max=92.2ms + save_trajectories: mean=11.34s, total=124.70s, count=11, min=10564.2ms, max=12288.8ms + save_batch_prep: mean=4.52s, total=49.69s, count=11, min=3931.8ms, max=5360.0ms + task_sampling: mean=858.0ms, total=15.44s, count=18, min=416.9ms, max=5811.1ms + task_specific_sample: mean=586.1ms, total=10.55s, count=18, min=412.7ms, max=991.6ms + scene_load: mean=4.81s, total=4.81s, count=1, min=4815.0ms, max=4815.0ms + scene_env_create: mean=2.54s, total=2.54s, count=1, min=2536.3ms, max=2536.3ms + scene_compile: mean=2.05s, total=2.05s, count=1, min=2045.7ms, max=2045.7ms + compile_mujoco: mean=1.29s, total=1.29s, count=1, min=1290.4ms, max=1290.4ms + compile_xml_load: mean=651.6ms, total=651.6ms, count=1, min=651.6ms, max=651.6ms + scene_init: mean=122.2ms, total=122.2ms, count=1, min=122.2ms, max=122.2ms + scene_asset_install: mean=110.4ms, total=110.4ms, count=1, min=110.4ms, max=110.4ms + asset_install_grasps: mean=82.7ms, total=82.7ms, count=1, min=82.7ms, max=82.7ms + compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + compile_aux_policy_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + scene_randomize: mean=2.5ms, total=44.6ms, count=18, min=1.1ms, max=3.7ms + compile_robot_add: mean=34.7ms, total=34.7ms, count=1, min=34.7ms, max=34.7ms + asset_install_objects: mean=23.2ms, total=23.2ms, count=1, min=23.2ms, max=23.2ms + mj_forward_sync: mean=569.0us, total=10.2ms, count=18, min=0.5ms, max=0.8ms + asset_install_scene: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms + policy_setup: mean=23.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 14:23:53 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 14:23:53 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5466.59s + Worker averages: + episode_total: mean=169.31s, total=3047.50s, count=18, min=3564.8ms, max=251391.5ms + sensor_polling: mean=443.1ms, total=2077.32s, count=4688, min=367.5ms, max=987.8ms + physics_step: mean=27.6ms, total=129.51s, count=4688, min=16.9ms, max=92.2ms + save_trajectories: mean=11.34s, total=124.70s, count=11, min=10564.2ms, max=12288.8ms + save_batch_prep: mean=4.52s, total=49.69s, count=11, min=3931.8ms, max=5360.0ms + task_sampling: mean=858.0ms, total=15.44s, count=18, min=416.9ms, max=5811.1ms + task_specific_sample: mean=586.1ms, total=10.55s, count=18, min=412.7ms, max=991.6ms + scene_load: mean=4.81s, total=4.81s, count=1, min=4815.0ms, max=4815.0ms + scene_env_create: mean=2.54s, total=2.54s, count=1, min=2536.3ms, max=2536.3ms + scene_compile: mean=2.05s, total=2.05s, count=1, min=2045.7ms, max=2045.7ms + compile_mujoco: mean=1.29s, total=1.29s, count=1, min=1290.4ms, max=1290.4ms + compile_xml_load: mean=651.6ms, total=651.6ms, count=1, min=651.6ms, max=651.6ms + scene_init: mean=122.2ms, total=122.2ms, count=1, min=122.2ms, max=122.2ms + scene_asset_install: mean=110.4ms, total=110.4ms, count=1, min=110.4ms, max=110.4ms + asset_install_grasps: mean=82.7ms, total=82.7ms, count=1, min=82.7ms, max=82.7ms + compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + compile_aux_policy_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + scene_randomize: mean=2.5ms, total=44.6ms, count=18, min=1.1ms, max=3.7ms + compile_robot_add: mean=34.7ms, total=34.7ms, count=1, min=34.7ms, max=34.7ms + asset_install_objects: mean=23.2ms, total=23.2ms, count=1, min=23.2ms, max=23.2ms + mj_forward_sync: mean=569.0us, total=10.2ms, count=18, min=0.5ms, max=0.8ms + asset_install_scene: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms + policy_setup: mean=23.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 14:23:56 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 14:23:56 INFO: Success count: 11, Total count: 12 [pipeline.py: 1491] +05/12 14:23:56 INFO: Success rate: 91.67% [pipeline.py: 1492] +05/12 14:24:17 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:24:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 14:24:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:24:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:24:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:24:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 15.75s (batch: 4.53s, save: 11.22s) [pipeline.py: 300] +05/12 14:24:33 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.99s: + episode_total: mean=194.55s, total=389.10s, count=2, min=157515.2ms, max=231588.4ms + sensor_polling: mean=424.6ms, total=250.50s, count=590, min=374.2ms, max=936.6ms + physics_step: mean=25.6ms, total=15.11s, count=590, min=15.4ms, max=39.1ms + save_trajectories: mean=11.22s, total=11.22s, count=1, min=11216.4ms, max=11216.4ms + save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4529.3ms, max=4529.3ms + task_sampling: mean=493.5ms, total=986.9ms, count=2, min=438.9ms, max=548.0ms + task_specific_sample: mean=489.9ms, total=979.8ms, count=2, min=435.9ms, max=543.9ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.2ms, max=2.7ms + mj_forward_sync: mean=451.9us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + 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=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:24:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:24:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:24:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:24:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:24:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:24:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:24:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:24:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:24:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:24:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:24:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078094m [env.py: 870] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:24:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74156123 0.70788586 0.07809393] yaw=-193.9deg [env.py: 1019] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82394598 0.51458467 0.07809393] yaw=-216.4deg [env.py: 1019] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72383958 0.74110173 0.07809393] yaw=-205.1deg [env.py: 1019] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:24:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.9ms, total=182.0ms [env.py: 1075] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.742, 0.708, 0.078) [env.py: 1079] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -193.9 deg [env.py: 1082] +05/12 14:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/12 14:24:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:24:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:24:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:24:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:24:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:24:35 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 14:24:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 14:24:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:24:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:24:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:24:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.052s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:24:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.592[m] 86.674[deg] [grasp_sample.py: 539] +05/12 14:24:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:24:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:24:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:24:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:24:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:24:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:25:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:25:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:25:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:25:55 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:26:24 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:26:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 14:26:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:26:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:26:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:26:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 15.16s (batch: 4.29s, save: 10.87s) [pipeline.py: 300] +05/12 14:26:40 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.54s: + episode_total: mean=173.12s, total=173.12s, count=1, min=173115.4ms, max=173115.4ms + sensor_polling: mean=389.7ms, total=116.92s, count=300, min=369.5ms, max=804.0ms + save_trajectories: mean=10.87s, total=10.87s, count=1, min=10869.3ms, max=10869.3ms + physics_step: mean=24.1ms, total=7.22s, count=300, min=17.0ms, max=35.2ms + save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4286.5ms, max=4286.5ms + task_sampling: mean=541.8ms, total=541.8ms, count=1, min=541.8ms, max=541.8ms + task_specific_sample: mean=537.3ms, total=537.3ms, count=1, min=537.3ms, max=537.3ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=604.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:26:42 WARNING: [Worker 0] No trajectory data to save for chunk_015 [pipeline.py: 234] +05/12 14:26:42 WARNING: [Worker 0] No trajectory data to save for chunk_015 [pipeline.py: 234] +05/12 14:26:42 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes [pipeline.py: 1323] +05/12 14:26:42 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5815.71s + House averages: + episode_total: mean=178.66s, total=3215.94s, count=18, min=129962.5ms, max=247814.1ms + sensor_polling: mean=433.3ms, total=2228.65s, count=5143, min=360.7ms, max=925.2ms + save_trajectories: mean=11.69s, total=140.28s, count=12, min=10869.3ms, max=12729.5ms + physics_step: mean=26.9ms, total=138.52s, count=5143, min=16.8ms, max=92.7ms + save_batch_prep: mean=4.60s, total=55.15s, count=12, min=3952.2ms, max=6307.9ms + task_sampling: mean=847.4ms, total=15.25s, count=18, min=453.1ms, max=5478.1ms + task_specific_sample: mean=585.8ms, total=10.54s, count=18, min=448.4ms, max=892.2ms + scene_load: mean=4.63s, total=4.63s, count=1, min=4627.4ms, max=4627.4ms + scene_env_create: mean=2.48s, total=2.48s, count=1, min=2476.5ms, max=2476.5ms + scene_compile: mean=1.96s, total=1.96s, count=1, min=1957.3ms, max=1957.3ms + compile_mujoco: mean=1.31s, total=1.31s, count=1, min=1313.1ms, max=1313.1ms + compile_xml_load: mean=544.2ms, total=544.2ms, count=1, min=544.2ms, max=544.2ms + scene_init: mean=133.6ms, total=133.6ms, count=1, min=133.6ms, max=133.6ms + scene_asset_install: mean=59.6ms, total=59.6ms, count=1, min=59.6ms, max=59.6ms + compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + scene_randomize: mean=2.5ms, total=45.5ms, count=18, min=1.2ms, max=3.7ms + asset_install_grasps: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms + compile_robot_add: mean=34.8ms, total=34.8ms, count=1, min=34.8ms, max=34.8ms + asset_install_objects: mean=13.9ms, total=13.9ms, count=1, min=13.9ms, max=13.9ms + mj_forward_sync: mean=569.5us, total=10.3ms, count=18, min=0.4ms, max=0.9ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=23.2us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 14:26:42 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 14:26:42 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5815.71s + Worker averages: + episode_total: mean=178.66s, total=3215.94s, count=18, min=129962.5ms, max=247814.1ms + sensor_polling: mean=433.3ms, total=2228.65s, count=5143, min=360.7ms, max=925.2ms + save_trajectories: mean=11.69s, total=140.28s, count=12, min=10869.3ms, max=12729.5ms + physics_step: mean=26.9ms, total=138.52s, count=5143, min=16.8ms, max=92.7ms + save_batch_prep: mean=4.60s, total=55.15s, count=12, min=3952.2ms, max=6307.9ms + task_sampling: mean=847.4ms, total=15.25s, count=18, min=453.1ms, max=5478.1ms + task_specific_sample: mean=585.8ms, total=10.54s, count=18, min=448.4ms, max=892.2ms + scene_load: mean=4.63s, total=4.63s, count=1, min=4627.4ms, max=4627.4ms + scene_env_create: mean=2.48s, total=2.48s, count=1, min=2476.5ms, max=2476.5ms + scene_compile: mean=1.96s, total=1.96s, count=1, min=1957.3ms, max=1957.3ms + compile_mujoco: mean=1.31s, total=1.31s, count=1, min=1313.1ms, max=1313.1ms + compile_xml_load: mean=544.2ms, total=544.2ms, count=1, min=544.2ms, max=544.2ms + scene_init: mean=133.6ms, total=133.6ms, count=1, min=133.6ms, max=133.6ms + scene_asset_install: mean=59.6ms, total=59.6ms, count=1, min=59.6ms, max=59.6ms + compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + scene_randomize: mean=2.5ms, total=45.5ms, count=18, min=1.2ms, max=3.7ms + asset_install_grasps: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms + compile_robot_add: mean=34.8ms, total=34.8ms, count=1, min=34.8ms, max=34.8ms + asset_install_objects: mean=13.9ms, total=13.9ms, count=1, min=13.9ms, max=13.9ms + mj_forward_sync: mean=569.5us, total=10.3ms, count=18, min=0.4ms, max=0.9ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=23.2us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 14:26:44 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:26:45 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 14:26:45 INFO: Success count: 12, Total count: 12 [pipeline.py: 1491] +05/12 14:26:45 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/12 14:27:11 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:27:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 14:27:11 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:27:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:27:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:27:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.11s (batch: 3.56s, save: 10.55s) [pipeline.py: 300] +05/12 14:27:25 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.50s: + episode_total: mean=170.58s, total=170.58s, count=1, min=170577.8ms, max=170577.8ms + sensor_polling: mean=391.7ms, total=117.52s, count=300, min=368.7ms, max=863.0ms + save_trajectories: mean=10.55s, total=10.55s, count=1, min=10553.1ms, max=10553.1ms + physics_step: mean=24.2ms, total=7.26s, count=300, min=18.2ms, max=35.5ms + save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3561.8ms, max=3561.8ms + task_sampling: mean=500.5ms, total=500.5ms, count=1, min=500.5ms, max=500.5ms + task_specific_sample: mean=496.7ms, total=496.7ms, count=1, min=496.7ms, max=496.7ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=451.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:27:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:27:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:27:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:27:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:27:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:27:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:27:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:27:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:27:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:27:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:27:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064354m [env.py: 870] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:27:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67852673 0.54305735 0.06435381] yaw=-165.7deg [env.py: 1019] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91279968 0.67170163 0.06435381] yaw=-194.6deg [env.py: 1019] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68328422 0.24562482 0.06435381] yaw=149.0deg [env.py: 1019] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:27:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=309.6ms, total=309.6ms [env.py: 1075] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.543, 0.064) [env.py: 1079] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.7 deg [env.py: 1082] +05/12 14:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m [env.py: 1086] +05/12 14:27:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:27:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:27:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:27:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:27:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:27:27 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 14:27:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 14:27:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:27:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:27:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:27:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.114s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:27:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.573[m] 80.624[deg] [grasp_sample.py: 539] +05/12 14:27:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:27:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:27:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:27:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:28:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:28:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:28:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:29:36 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:30:03 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:30:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 14:30:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:30:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:30:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:30:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.62s (batch: 3.49s, save: 10.13s) [pipeline.py: 300] +05/12 14:30:17 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.64s: + episode_total: mean=170.31s, total=170.31s, count=1, min=170314.1ms, max=170314.1ms + sensor_polling: mean=385.5ms, total=115.64s, count=300, min=366.1ms, max=801.3ms + save_trajectories: mean=10.13s, total=10.13s, count=1, min=10126.0ms, max=10126.0ms + physics_step: mean=23.2ms, total=6.96s, count=300, min=16.8ms, max=26.2ms + save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3489.9ms, max=3489.9ms + task_sampling: mean=643.3ms, total=643.3ms, count=1, min=643.3ms, max=643.3ms + task_specific_sample: mean=639.3ms, total=639.3ms, count=1, min=639.3ms, max=639.3ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=653.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:30:19 WARNING: [Worker 0] No trajectory data to save for chunk_015 [pipeline.py: 234] +05/12 14:30:19 WARNING: [Worker 0] No trajectory data to save for chunk_015 [pipeline.py: 234] +05/12 14:30:19 INFO: [Worker 0] Worker 0 completed house 1: 13/14 successful episodes [pipeline.py: 1323] +05/12 14:30:19 INFO: [Worker 0] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=6151.03s + House averages: + episode_total: mean=190.50s, total=3428.99s, count=18, min=134428.0ms, max=231588.4ms + sensor_polling: mean=440.5ms, total=2334.92s, count=5301, min=366.1ms, max=1015.6ms + save_trajectories: mean=11.32s, total=147.20s, count=13, min=10126.0ms, max=12906.6ms + physics_step: mean=26.9ms, total=142.50s, count=5301, min=15.4ms, max=93.0ms + save_batch_prep: mean=4.57s, total=59.37s, count=13, min=3489.9ms, max=5728.4ms + task_sampling: mean=877.5ms, total=15.79s, count=18, min=438.9ms, max=5605.6ms + task_specific_sample: mean=617.9ms, total=11.12s, count=18, min=435.9ms, max=1014.5ms + scene_load: mean=4.58s, total=4.58s, count=1, min=4583.8ms, max=4583.8ms + scene_env_create: mean=2.59s, total=2.59s, count=1, min=2591.7ms, max=2591.7ms + scene_compile: mean=1.80s, total=1.80s, count=1, min=1796.5ms, max=1796.5ms + compile_mujoco: mean=1.31s, total=1.31s, count=1, min=1309.9ms, max=1309.9ms + compile_xml_load: mean=379.9ms, total=379.9ms, count=1, min=379.9ms, max=379.9ms + scene_init: mean=125.1ms, total=125.1ms, count=1, min=125.1ms, max=125.1ms + scene_asset_install: mean=70.1ms, total=70.1ms, count=1, min=70.1ms, max=70.1ms + compile_aux_objects: mean=56.1ms, total=56.1ms, count=1, min=56.1ms, max=56.1ms + compile_aux_policy_objects: mean=56.1ms, total=56.1ms, count=1, min=56.1ms, max=56.1ms + scene_randomize: mean=2.9ms, total=52.7ms, count=18, min=1.2ms, max=9.5ms + asset_install_grasps: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + compile_robot_add: mean=33.3ms, total=33.3ms, count=1, min=33.3ms, max=33.3ms + asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms + mj_forward_sync: mean=666.6us, total=12.0ms, count=18, min=0.5ms, max=3.0ms + asset_install_scene: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms + policy_setup: mean=27.3us, total=0.5ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 14:30:19 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 14:30:19 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=6151.03s + Worker averages: + episode_total: mean=190.50s, total=3428.99s, count=18, min=134428.0ms, max=231588.4ms + sensor_polling: mean=440.5ms, total=2334.92s, count=5301, min=366.1ms, max=1015.6ms + save_trajectories: mean=11.32s, total=147.20s, count=13, min=10126.0ms, max=12906.6ms + physics_step: mean=26.9ms, total=142.50s, count=5301, min=15.4ms, max=93.0ms + save_batch_prep: mean=4.57s, total=59.37s, count=13, min=3489.9ms, max=5728.4ms + task_sampling: mean=877.5ms, total=15.79s, count=18, min=438.9ms, max=5605.6ms + task_specific_sample: mean=617.9ms, total=11.12s, count=18, min=435.9ms, max=1014.5ms + scene_load: mean=4.58s, total=4.58s, count=1, min=4583.8ms, max=4583.8ms + scene_env_create: mean=2.59s, total=2.59s, count=1, min=2591.7ms, max=2591.7ms + scene_compile: mean=1.80s, total=1.80s, count=1, min=1796.5ms, max=1796.5ms + compile_mujoco: mean=1.31s, total=1.31s, count=1, min=1309.9ms, max=1309.9ms + compile_xml_load: mean=379.9ms, total=379.9ms, count=1, min=379.9ms, max=379.9ms + scene_init: mean=125.1ms, total=125.1ms, count=1, min=125.1ms, max=125.1ms + scene_asset_install: mean=70.1ms, total=70.1ms, count=1, min=70.1ms, max=70.1ms + compile_aux_objects: mean=56.1ms, total=56.1ms, count=1, min=56.1ms, max=56.1ms + compile_aux_policy_objects: mean=56.1ms, total=56.1ms, count=1, min=56.1ms, max=56.1ms + scene_randomize: mean=2.9ms, total=52.7ms, count=18, min=1.2ms, max=9.5ms + asset_install_grasps: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + compile_robot_add: mean=33.3ms, total=33.3ms, count=1, min=33.3ms, max=33.3ms + asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms + mj_forward_sync: mean=666.6us, total=12.0ms, count=18, min=0.5ms, max=3.0ms + asset_install_scene: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms + policy_setup: mean=27.3us, total=0.5ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 14:30:21 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 14:30:21 INFO: Success count: 13, Total count: 14 [pipeline.py: 1491] +05/12 14:30:21 INFO: Success rate: 92.86% [pipeline.py: 1492] diff --git a/fridge_m_0.7_pd/chunk_015/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_015/trajectories_batch_1_of_4_cam_rand.h5 index 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'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 51601, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.7, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 14:31:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 14:31:45 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 14:31:45 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 14:31:45 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 14:31:45 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 14:31:45 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 14:31:45 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 51602, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.7, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 14:31:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 14:31:45 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 14:31:45 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 14:31:45 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 14:31:45 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 14:31:45 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 14:31:45 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 51603, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.7, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 14:31:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 14:31:45 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 14:31:45 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 14:31:45 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 14:31:45 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 14:31:45 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 14:31:45 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 51604, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.7, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 14:31:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 14:31:45 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 14:31:45 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 14:31:46 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 14:31:46 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 14:31:46 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 14:31:46 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 14:31:50 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 14:31:50 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 14:31:50 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 14:31:50 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 14:31:50 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 14:31:50 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 14:31:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:31:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:31:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:31:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:31:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:31:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076983m [env.py: 870] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:31:50 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:31:50 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 14:31:50 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:31:50 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 14:31:50 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 14:31:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:31:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:31:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:31:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:31:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:31:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089918m [env.py: 870] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:31:50 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:31:50 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 14:31:50 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:31:50 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 14:31:50 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 14:31:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:31:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:31:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:31:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:31:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:31:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068803m [env.py: 870] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:31:50 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 14:31:50 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 14:31:50 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 14:31:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:31:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14674916 1.07941867 0.08991793] yaw=-109.6deg [env.py: 1019] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:31:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:31:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:31:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:31:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086541m [env.py: 870] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:31:50 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85141535 0.74836117 0.07698275] yaw=-191.5deg [env.py: 1019] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:31:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=21.5ms, retries=534.8ms, total=556.3ms [env.py: 1075] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.748, 0.077) [env.py: 1079] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -191.5 deg [env.py: 1082] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97724223 0.17224809 0.06880293] yaw=134.4deg [env.py: 1019] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8685839 0.89252598 0.06880293] yaw=-136.1deg [env.py: 1019] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89761094 0.64126571 0.08991793] yaw=-179.8deg [env.py: 1019] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6465337 0.54445947 0.06880293] yaw=-201.4deg [env.py: 1019] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:31:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=78.0ms, retries=282.1ms, total=360.2ms [env.py: 1075] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.977, 0.172, 0.069) [env.py: 1079] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 134.4 deg [env.py: 1082] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m [env.py: 1086] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01510701 0.94272667 0.08991793] yaw=-131.9deg [env.py: 1019] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:31:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=27.9ms, retries=569.7ms, total=597.6ms [env.py: 1075] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.147, 1.079, 0.090) [env.py: 1079] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -109.6 deg [env.py: 1082] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m [env.py: 1086] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:31:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71238655 0.4166961 0.0865414 ] yaw=191.2deg [env.py: 1019] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8338243 0.73236963 0.0865414 ] yaw=-168.8deg [env.py: 1019] +05/12 14:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75030564 0.57595097 0.0865414 ] yaw=-205.3deg [env.py: 1019] +05/12 14:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:31:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=52.3ms, retries=473.5ms, total=525.8ms [env.py: 1075] +05/12 14:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.712, 0.417, 0.087) [env.py: 1079] +05/12 14:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 191.2 deg [env.py: 1082] +05/12 14:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [env.py: 1086] +05/12 14:31:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:31:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:31:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:31:51 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 14:31:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:31:51 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 14:31:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:31:51 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 14:31:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:31:51 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 14:32:26 INFO: [Worker 0] Warmed up parallel IK solver in 34.877s [base_object_manipulation_planner_policy.py: 377] +05/12 14:32:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:32:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:32:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:32:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.814s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:32:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.537[m] 99.864[deg] [grasp_sample.py: 539] +05/12 14:32:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:32:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:32:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:32:27 INFO: [Worker 0] Warmed up parallel IK solver in 36.234s [base_object_manipulation_planner_policy.py: 377] +05/12 14:32:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:32:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:32:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:32:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.090s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:32:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.407[m] 94.072[deg] [grasp_sample.py: 539] +05/12 14:32:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:32:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:32:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:32:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:32:29 INFO: [Worker 0] Warmed up parallel IK solver in 38.443s [base_object_manipulation_planner_policy.py: 377] +05/12 14:32:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:32:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:32:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:32:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.052s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:32:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.587[m] 96.332[deg] [grasp_sample.py: 539] +05/12 14:32:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:32:31 INFO: [Worker 0] Warmed up parallel IK solver in 39.977s [base_object_manipulation_planner_policy.py: 377] +05/12 14:32:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:32:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:32:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:32:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:32:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:32:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:32:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.103s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:32:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.429[m] 96.909[deg] [grasp_sample.py: 539] +05/12 14:32:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:32:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:32:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:32:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:33:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:33:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:33:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:33:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:33:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:33:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:33:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:33:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:33:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:33:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:33:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:33:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:33:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:33:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:33:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:33:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:33:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:33:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:33:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:34:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:34:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:34:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:34:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:34:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:34:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 14:34:01 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.727s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:34:01 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.289[deg] [grasp_sample.py: 539] +05/12 14:34:02 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:34:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:34:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:34:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:34:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:34:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:34:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:34:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:34:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:34:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:34:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:34:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050289m [env.py: 870] +05/12 14:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:34:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76915672 0.71793046 0.05028912] yaw=-127.8deg [env.py: 1019] +05/12 14:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85601266 0.42613188 0.05028912] yaw=153.0deg [env.py: 1019] +05/12 14:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99738084 0.80932749 0.05028912] yaw=-129.9deg [env.py: 1019] +05/12 14:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:34:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.0ms, total=130.0ms [env.py: 1075] +05/12 14:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.718, 0.050) [env.py: 1079] +05/12 14:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.8 deg [env.py: 1082] +05/12 14:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m [env.py: 1086] +05/12 14:34:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:34:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:34:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:34:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:34:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:34:04 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 14:34:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 14:34:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:34:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:34:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:34:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.300s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:34:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.624[m] 82.778[deg] [grasp_sample.py: 539] +05/12 14:34:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:34:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:34:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:34:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:34:44 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:34:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:34:46 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:34:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:34:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:34:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:34:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:34:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:34:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:34:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:34:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:34:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 14:34:57 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.661s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:34:57 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.115[m] 1.675[deg] [grasp_sample.py: 539] +05/12 14:34:58 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:34:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:35:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:35:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:35:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:35:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:35:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:35:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:35:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:35:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:35:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:35:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012318m [env.py: 870] +05/12 14:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:35:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05496738 0.91194945 0.0123182 ] yaw=-161.0deg [env.py: 1019] +05/12 14:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91960482 1.16714714 0.0123182 ] yaw=-122.4deg [env.py: 1019] +05/12 14:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85622727 0.23890359 0.0123182 ] yaw=200.8deg [env.py: 1019] +05/12 14:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:35:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=263.7ms, total=263.8ms [env.py: 1075] +05/12 14:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.055, 0.912, 0.012) [env.py: 1079] +05/12 14:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.0 deg [env.py: 1082] +05/12 14:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.777m [env.py: 1086] +05/12 14:35:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:35:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:35:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:35:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:35:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:35:01 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 14:35:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 14:35:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:35:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:35:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:35:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:35:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.028s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:35:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.429[m] 90.861[deg] [grasp_sample.py: 539] +05/12 14:35:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:35:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:35:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:35:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:35:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:35:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:35:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:35:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:35:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:35:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:35:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:35:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:35:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 86 non-colliding grasps [grasp_sample.py: 465] +05/12 14:35:11 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:35:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 14:35:11 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:35:13 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:35:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 14:35:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:35:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:35:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:35:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 16.38s (batch: 4.75s, save: 11.63s) [pipeline.py: 300] +05/12 14:35:29 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=5.90s: + episode_total: mean=224.03s, total=224.03s, count=1, min=224030.6ms, max=224030.6ms + sensor_polling: mean=417.3ms, total=125.18s, count=300, min=376.2ms, max=660.5ms + save_trajectories: mean=11.63s, total=11.63s, count=1, min=11632.7ms, max=11632.7ms + physics_step: mean=27.0ms, total=8.11s, count=300, min=17.2ms, max=39.3ms + task_sampling: mean=5.90s, total=5.90s, count=1, min=5903.3ms, max=5903.3ms + scene_load: mean=4.98s, total=4.98s, count=1, min=4983.3ms, max=4983.3ms + save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4746.9ms, max=4746.9ms + scene_env_create: mean=2.56s, total=2.56s, count=1, min=2564.8ms, max=2564.8ms + scene_compile: mean=2.19s, total=2.19s, count=1, min=2194.3ms, max=2194.3ms + compile_mujoco: mean=1.35s, total=1.35s, count=1, min=1346.8ms, max=1346.8ms + task_specific_sample: mean=916.2ms, total=916.2ms, count=1, min=916.2ms, max=916.2ms + compile_xml_load: mean=725.9ms, total=725.9ms, count=1, min=725.9ms, max=725.9ms + scene_init: mean=119.1ms, total=119.1ms, count=1, min=119.1ms, max=119.1ms + scene_asset_install: mean=104.9ms, total=104.9ms, count=1, min=104.9ms, max=104.9ms + asset_install_grasps: mean=82.4ms, total=82.4ms, count=1, min=82.4ms, max=82.4ms + compile_aux_objects: mean=68.4ms, total=68.4ms, count=1, min=68.4ms, max=68.4ms + compile_aux_policy_objects: mean=68.4ms, total=68.4ms, count=1, min=68.4ms, max=68.4ms + compile_robot_add: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms + asset_install_objects: mean=18.3ms, total=18.3ms, count=1, min=18.3ms, max=18.3ms + asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=461.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=63.9us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 14:35:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:35:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:35:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.77s (batch: 4.71s, save: 11.07s) [pipeline.py: 300] +05/12 14:35:30 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=5.76s: + episode_total: mean=224.84s, total=224.84s, count=1, min=224837.8ms, max=224837.8ms + sensor_polling: mean=416.2ms, total=124.86s, count=300, min=373.7ms, max=714.9ms + save_trajectories: mean=11.07s, total=11.07s, count=1, min=11065.9ms, max=11065.9ms + physics_step: mean=25.4ms, total=7.63s, count=300, min=18.3ms, max=40.7ms + task_sampling: mean=5.76s, total=5.76s, count=1, min=5756.8ms, max=5756.8ms + scene_load: mean=4.85s, total=4.85s, count=1, min=4849.9ms, max=4849.9ms + save_batch_prep: mean=4.71s, total=4.71s, count=1, min=4706.5ms, max=4706.5ms + scene_env_create: mean=2.80s, total=2.80s, count=1, min=2800.3ms, max=2800.3ms + scene_compile: mean=1.81s, total=1.81s, count=1, min=1809.5ms, max=1809.5ms + compile_mujoco: mean=1.39s, total=1.39s, count=1, min=1387.7ms, max=1387.7ms + task_specific_sample: mean=897.9ms, total=897.9ms, count=1, min=897.9ms, max=897.9ms + compile_xml_load: mean=297.0ms, total=297.0ms, count=1, min=297.0ms, max=297.0ms + scene_init: mean=170.0ms, total=170.0ms, count=1, min=170.0ms, max=170.0ms + scene_asset_install: mean=69.7ms, total=69.7ms, count=1, min=69.7ms, max=69.7ms + compile_aux_objects: mean=63.8ms, total=63.8ms, count=1, min=63.8ms, max=63.8ms + compile_aux_policy_objects: mean=63.8ms, total=63.8ms, count=1, min=63.8ms, max=63.8ms + asset_install_grasps: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms + compile_robot_add: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms + asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms + asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + mj_forward_sync: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + policy_setup: mean=90.0us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 14:35:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:35:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:35:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:35:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:35:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:35:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:35:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:35:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:35:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026993m [env.py: 870] +05/12 14:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:35:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02600531 1.01410819 0.0269927 ] yaw=-137.5deg [env.py: 1019] +05/12 14:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7188687 0.60029022 0.0269927 ] yaw=-190.8deg [env.py: 1019] +05/12 14:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70769683 0.07285625 0.0269927 ] yaw=173.1deg [env.py: 1019] +05/12 14:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:35:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.0ms, total=163.1ms [env.py: 1075] +05/12 14:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.026, 1.014, 0.027) [env.py: 1079] +05/12 14:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.5 deg [env.py: 1082] +05/12 14:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m [env.py: 1086] +05/12 14:35:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:35:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:35:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:35:31 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 14:35:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/12 14:35:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:35:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:35:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:35:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:35:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:35:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:35:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:35:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:35:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:35:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:35:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:35:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:35:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:35:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004553m [env.py: 870] +05/12 14:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:35:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07436097 1.14296753 0.00455278] yaw=-144.5deg [env.py: 1019] +05/12 14:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:35:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.993s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:35:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.415[m] 84.801[deg] [grasp_sample.py: 539] +05/12 14:35:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.83280814 0.45118802 0.00455278] yaw=215.0deg [env.py: 1019] +05/12 14:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:35:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=202.9ms, total=202.9ms [env.py: 1075] +05/12 14:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.074, 1.143, 0.005) [env.py: 1079] +05/12 14:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.5 deg [env.py: 1082] +05/12 14:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/12 14:35:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:35:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:35:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:35:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:35:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:35:32 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 14:35:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 14:35:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:35:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:35:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:35:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:35:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:35:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.317s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:35:37 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.516[m] 92.829[deg] [grasp_sample.py: 539] +05/12 14:35:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:35:38 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:35:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:35:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:35:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:35:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:35:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:35:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:35:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:35:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:35:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048471m [env.py: 870] +05/12 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:35:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74742485 0.0889167 0.04847106] yaw=187.0deg [env.py: 1019] +05/12 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.6104938 0.38133876 0.04847106] yaw=150.0deg [env.py: 1019] +05/12 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:35:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=394.5ms, total=394.6ms [env.py: 1075] +05/12 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.089, 0.048) [env.py: 1079] +05/12 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.0 deg [env.py: 1082] +05/12 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/12 14:35:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:35:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:35:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:35:41 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 14:35:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/12 14:35:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:35:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:35:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:35:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.735s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:35:44 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.708[m] 89.685[deg] [grasp_sample.py: 539] +05/12 14:35:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:35:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:35:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:35:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:35:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:35:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:36:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:36:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:36:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:36:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:37:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:37:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:37:04 INFO: [Worker 0] Feasibility-checked 86 grasps in 113.234s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:37:04 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 14:37:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:37:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:37:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:37:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:37:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:37:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:37:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:37:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:37:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:37:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:37:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074145m [env.py: 870] +05/12 14:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:37:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93360844 0.69381435 0.07414483] yaw=-159.8deg [env.py: 1019] +05/12 14:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78772119 0.69884218 0.07414483] yaw=-186.5deg [env.py: 1019] +05/12 14:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93732127 0.11459327 0.07414483] yaw=167.8deg [env.py: 1019] +05/12 14:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:37:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=194.9ms, total=195.0ms [env.py: 1075] +05/12 14:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 0.694, 0.074) [env.py: 1079] +05/12 14:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.8 deg [env.py: 1082] +05/12 14:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m [env.py: 1086] +05/12 14:37:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:37:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:37:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:37:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:37:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:37:08 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 14:37:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.185s [base_object_manipulation_planner_policy.py: 377] +05/12 14:37:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:37:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:37:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:37:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.814s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:37:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.341[m] 90.485[deg] [grasp_sample.py: 539] +05/12 14:37:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:37:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:37:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:37:22 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:37:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:37:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:37:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:37:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:37:53 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:37:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 14:37:53 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:37:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:37:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:37:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:37:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:38:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:38:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:38:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:38:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:38:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:38:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:38:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:38:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.101s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 14:38:07 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 14:38:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:38:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:38:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:38:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/12 14:38:08 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.836s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:38:08 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 2.599[deg] [grasp_sample.py: 539] +05/12 14:38:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:38:08 INFO: [Worker 0] Feasibility-checked 70 grasps in 0.705s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:38:08 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.118[m] 0.776[deg] [grasp_sample.py: 539] +05/12 14:38:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:38:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:38:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:38:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:38:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:38:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:38:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:38:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 16.60s (batch: 4.70s, save: 11.90s) [pipeline.py: 300] +05/12 14:38:10 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=6.30s: + episode_total: mean=191.31s, total=382.62s, count=2, min=189525.0ms, max=193098.4ms + sensor_polling: mean=433.3ms, total=250.03s, count=577, min=368.8ms, max=771.4ms + physics_step: mean=26.9ms, total=15.51s, count=577, min=21.4ms, max=42.4ms + save_trajectories: mean=11.90s, total=11.90s, count=1, min=11897.0ms, max=11897.0ms + task_sampling: mean=3.15s, total=6.30s, count=2, min=542.9ms, max=5755.7ms + scene_load: mean=4.77s, total=4.77s, count=1, min=4773.4ms, max=4773.4ms + save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4698.1ms, max=4698.1ms + scene_env_create: mean=2.60s, total=2.60s, count=1, min=2604.0ms, max=2604.0ms + scene_compile: mean=1.95s, total=1.95s, count=1, min=1946.6ms, max=1946.6ms + task_specific_sample: mean=758.8ms, total=1.52s, count=2, min=539.3ms, max=978.3ms + compile_mujoco: mean=1.39s, total=1.39s, count=1, min=1390.2ms, max=1390.2ms + compile_xml_load: mean=427.8ms, total=427.8ms, count=1, min=427.8ms, max=427.8ms + scene_init: mean=163.2ms, total=163.2ms, count=1, min=163.2ms, max=163.2ms + compile_aux_objects: mean=69.5ms, total=69.5ms, count=1, min=69.5ms, max=69.5ms + compile_aux_policy_objects: mean=69.5ms, total=69.5ms, count=1, min=69.5ms, max=69.5ms + scene_asset_install: mean=59.2ms, total=59.2ms, count=1, min=59.2ms, max=59.2ms + compile_robot_add: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms + asset_install_grasps: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms + asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.7ms, max=2.1ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + mj_forward_sync: mean=534.4us, total=1.1ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=47.7us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:38:11 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:38:11 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:38:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:38:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:38:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:38:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:38:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:38:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:38:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020774m [env.py: 870] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:38:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75928822 0.85090975 0.02077444] yaw=-178.4deg [env.py: 1019] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.67039178 0.66262052 0.02077444] yaw=-181.9deg [env.py: 1019] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.74316504 0.34628936 0.02077444] yaw=172.5deg [env.py: 1019] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:38:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.4ms, total=222.5ms [env.py: 1075] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.851, 0.021) [env.py: 1079] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.4 deg [env.py: 1082] +05/12 14:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/12 14:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:38:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:38:12 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 14:38:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 14:38:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:38:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:38:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:38:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.699s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:38:15 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.578[m] 83.788[deg] [grasp_sample.py: 539] +05/12 14:38:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:38:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:38:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:38:39 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:38:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 14:38:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:38:41 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:38:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 14:38:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:38:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:38:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:38:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 16.85s (batch: 4.82s, save: 12.03s) [pipeline.py: 300] +05/12 14:38:57 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.46s: + episode_total: mean=206.73s, total=206.73s, count=1, min=206725.8ms, max=206725.8ms + sensor_polling: mean=439.5ms, total=131.85s, count=300, min=377.4ms, max=778.2ms + save_trajectories: mean=12.03s, total=12.03s, count=1, min=12027.7ms, max=12027.7ms + physics_step: mean=27.1ms, total=8.12s, count=300, min=21.7ms, max=38.1ms + save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4819.3ms, max=4819.3ms + task_sampling: mean=464.1ms, total=464.1ms, count=1, min=464.1ms, max=464.1ms + task_specific_sample: mean=459.9ms, total=459.9ms, count=1, min=459.9ms, max=459.9ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=520.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=25.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:38:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:38:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:38:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.88s (batch: 4.52s, save: 11.36s) [pipeline.py: 300] +05/12 14:38:58 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.17s: + episode_total: mean=102.22s, total=204.44s, count=2, min=6279.6ms, max=198162.2ms + sensor_polling: mean=450.0ms, total=135.00s, count=300, min=381.8ms, max=771.9ms + save_trajectories: mean=11.36s, total=11.36s, count=1, min=11356.3ms, max=11356.3ms + physics_step: mean=28.2ms, total=8.47s, count=300, min=18.4ms, max=40.7ms + save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4524.5ms, max=4524.5ms + task_sampling: mean=584.6ms, total=1.17s, count=2, min=492.9ms, max=676.3ms + task_specific_sample: mean=580.1ms, total=1.16s, count=2, min=488.2ms, max=672.0ms + scene_randomize: mean=2.5ms, total=5.1ms, count=2, min=1.8ms, max=3.3ms + mj_forward_sync: mean=462.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=21.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:38:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:38:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:38:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:38:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:38:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:38:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:38:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:38:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:38:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036452m [env.py: 870] +05/12 14:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:38:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65239193 0.58520955 0.03645185] yaw=-150.2deg [env.py: 1019] +05/12 14:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85720406 0.88680377 0.03645185] yaw=-137.0deg [env.py: 1019] +05/12 14:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92326592 0.65443739 0.03645185] yaw=-143.4deg [env.py: 1019] +05/12 14:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:38:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=218.6ms, total=218.7ms [env.py: 1075] +05/12 14:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.585, 0.036) [env.py: 1079] +05/12 14:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.2 deg [env.py: 1082] +05/12 14:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m [env.py: 1086] +05/12 14:38:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:38:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:39:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:39:00 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 14:39:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/12 14:39:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:39:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:39:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:39:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:39:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:39:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:39:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:39:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:39:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:39:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:39:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:39:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051573m [env.py: 870] +05/12 14:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:39:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65539651 0.20981588 0.05157301] yaw=162.2deg [env.py: 1019] +05/12 14:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84166079 0.71391267 0.05157301] yaw=-147.4deg [env.py: 1019] +05/12 14:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:39:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=264.5ms, total=264.6ms [env.py: 1075] +05/12 14:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.655, 0.210, 0.052) [env.py: 1079] +05/12 14:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.2 deg [env.py: 1082] +05/12 14:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 14:39:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:39:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:39:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:39:01 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 14:39:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 14:39:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:39:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:39:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:39:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.393s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:39:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.686[m] 91.164[deg] [grasp_sample.py: 539] +05/12 14:39:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:39:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:39:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:39:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:39:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.323s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:39:05 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.699[m] 104.711[deg] [grasp_sample.py: 539] +05/12 14:39:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:39:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:39:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:39:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:39:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:39:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:39:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:39:34 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:40:03 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:40:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 14:40:03 INFO: [Worker 0] Preparing episode data: 291 timesteps [save_utils.py: 278] +05/12 14:40:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:40:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:40:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:40:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:40:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:40:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:40:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:40:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:40:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:40:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:40:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:40:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:40:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:40:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:40:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:40:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:40:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 17.71s (batch: 6.71s, save: 11.00s) [pipeline.py: 300] +05/12 14:40:21 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=6.50s: + episode_total: mean=170.25s, total=510.76s, count=3, min=136704.7ms, max=193918.1ms + sensor_polling: mean=433.3ms, total=257.83s, count=595, min=378.5ms, max=865.3ms + physics_step: mean=25.6ms, total=15.23s, count=595, min=17.7ms, max=73.3ms + save_trajectories: mean=11.00s, total=11.00s, count=1, min=11000.2ms, max=11000.2ms + save_batch_prep: mean=6.71s, total=6.71s, count=1, min=6709.2ms, max=6709.2ms + task_sampling: mean=2.17s, total=6.50s, count=3, min=415.1ms, max=5462.0ms + scene_load: mean=4.69s, total=4.69s, count=1, min=4690.5ms, max=4690.5ms + scene_env_create: mean=2.73s, total=2.73s, count=1, min=2733.1ms, max=2733.1ms + task_specific_sample: mean=596.9ms, total=1.79s, count=3, min=411.6ms, max=763.4ms + scene_compile: mean=1.70s, total=1.70s, count=1, min=1696.1ms, max=1696.1ms + compile_mujoco: mean=1.40s, total=1.40s, count=1, min=1395.4ms, max=1395.4ms + compile_xml_load: mean=196.8ms, total=196.8ms, count=1, min=196.8ms, max=196.8ms + scene_init: mean=195.7ms, total=195.7ms, count=1, min=195.7ms, max=195.7ms + scene_asset_install: mean=65.0ms, total=65.0ms, count=1, min=65.0ms, max=65.0ms + compile_aux_objects: mean=57.3ms, total=57.3ms, count=1, min=57.3ms, max=57.3ms + compile_aux_policy_objects: mean=57.3ms, total=57.3ms, count=1, min=57.3ms, max=57.3ms + asset_install_grasps: mean=46.7ms, total=46.7ms, count=1, min=46.7ms, max=46.7ms + compile_robot_add: mean=34.5ms, total=34.5ms, count=1, min=34.5ms, max=34.5ms + asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms + scene_randomize: mean=3.6ms, total=10.7ms, count=3, min=2.0ms, max=5.8ms + asset_install_scene: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms + mj_forward_sync: mean=643.9us, total=1.9ms, count=3, min=0.5ms, max=0.8ms + policy_setup: mean=43.2us, total=0.1ms, count=3, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:40:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:40:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:40:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:40:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:40:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:40:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:40:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:40:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:40:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:40:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049482m [env.py: 870] +05/12 14:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:40:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78482974 0.62942891 0.04948194] yaw=-152.0deg [env.py: 1019] +05/12 14:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:40:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.4ms, total=205.5ms [env.py: 1075] +05/12 14:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.785, 0.629, 0.049) [env.py: 1079] +05/12 14:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.0 deg [env.py: 1082] +05/12 14:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/12 14:40:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:40:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:40:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:40:24 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 14:40:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 14:40:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:40:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:40:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:40:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.224s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:40:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.543[m] 92.410[deg] [grasp_sample.py: 539] +05/12 14:40:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:40:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:40:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:40:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:40:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:40:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 11.080s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:40:30 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.282[m] 10.988[deg] [grasp_sample.py: 539] +05/12 14:40:31 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:40:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:40:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:40:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:40:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:40:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:40:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:40:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:40:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:40:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064573m [env.py: 870] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:40:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86155714 0.64221111 0.06457294] yaw=-130.6deg [env.py: 1019] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93171547 0.4121628 0.06457294] yaw=171.8deg [env.py: 1019] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92284921 0.73824132 0.06457294] yaw=-177.1deg [env.py: 1019] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:40:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.2ms, total=186.2ms [env.py: 1075] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.862, 0.642, 0.065) [env.py: 1079] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.6 deg [env.py: 1082] +05/12 14:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m [env.py: 1086] +05/12 14:40:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:40:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:40:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:40:33 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 14:40:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s [base_object_manipulation_planner_policy.py: 377] +05/12 14:40:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:40:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:40:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:40:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.190s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:40:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.544[m] 88.713[deg] [grasp_sample.py: 539] +05/12 14:40:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:40:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:40:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:40:38 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:40:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:40:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:41:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:41:04 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:41:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 14:41:04 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:41:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:41:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:41:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:41:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:41:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:41:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:41:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:41:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/12 14:41:12 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.161s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:41:12 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.027[m] 3.599[deg] [grasp_sample.py: 539] +05/12 14:41:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:41:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:41:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:41:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:41:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:41:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:41:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:41:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 14.18s (batch: 3.81s, save: 10.37s) [pipeline.py: 300] +05/12 14:41:19 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.50s: + episode_total: mean=187.11s, total=187.11s, count=1, min=187113.1ms, max=187113.1ms + sensor_polling: mean=435.8ms, total=130.75s, count=300, min=375.9ms, max=819.0ms + save_trajectories: mean=10.37s, total=10.37s, count=1, min=10369.3ms, max=10369.3ms + physics_step: mean=26.8ms, total=8.05s, count=300, min=16.9ms, max=38.3ms + save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3812.8ms, max=3812.8ms + task_sampling: mean=501.6ms, total=501.6ms, count=1, min=501.6ms, max=501.6ms + task_specific_sample: mean=497.4ms, total=497.4ms, count=1, min=497.4ms, max=497.4ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=455.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:41:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:41:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:41:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:41:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:41:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:41:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:41:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:41:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:41:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026720m [env.py: 870] +05/12 14:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:41:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:41:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00424797 0.82943989 0.02672014] yaw=-116.2deg [env.py: 1019] +05/12 14:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04633184 0.97327389 0.02672014] yaw=-140.3deg [env.py: 1019] +05/12 14:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00555499 1.05940322 0.02672014] yaw=-115.1deg [env.py: 1019] +05/12 14:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:41:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.1ms, total=106.2ms [env.py: 1075] +05/12 14:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.004, 0.829, 0.027) [env.py: 1079] +05/12 14:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.2 deg [env.py: 1082] +05/12 14:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m [env.py: 1086] +05/12 14:41:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:41:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:41:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:41:21 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 14:41:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/12 14:41:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:41:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:41:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:41:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.965s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:41:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.434[m] 90.328[deg] [grasp_sample.py: 539] +05/12 14:41:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:41:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:41:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:41:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:41:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:41:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:41:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:41:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:41:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:41:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:41:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:41:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:41:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:41:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:41:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:41:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:41:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:41:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:41:42 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 14:41:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:41:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:41:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:41:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/12 14:41:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:41:48 INFO: [Worker 0] Feasibility-checked 70 grasps in 5.033s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:41:48 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.030[m] 12.406[deg] [grasp_sample.py: 539] +05/12 14:41:49 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:41:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:41:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:41:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:41:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:41:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:41:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:41:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:41:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:41:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015805m [env.py: 870] +05/12 14:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:41:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93148373 0.14629162 0.01580465] yaw=122.2deg [env.py: 1019] +05/12 14:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.63628336 0.4330254 0.01580465] yaw=194.6deg [env.py: 1019] +05/12 14:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96286986 0.31669442 0.01580465] yaw=180.9deg [env.py: 1019] +05/12 14:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:41:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=169.3ms, total=169.3ms [env.py: 1075] +05/12 14:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.146, 0.016) [env.py: 1079] +05/12 14:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 122.2 deg [env.py: 1082] +05/12 14:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/12 14:41:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:41:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:41:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:41:51 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 14:41:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/12 14:41:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:41:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:41:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:41:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.909s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:41:52 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.522[m] 102.174[deg] [grasp_sample.py: 539] +05/12 14:41:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:41:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:41:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:41:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:41:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:42:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:42:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:42:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:42:42 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:42:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:42:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:43:03 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:43:12 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:43:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 14:43:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:43:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:43:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:43:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 16.98s (batch: 5.57s, save: 11.41s) [pipeline.py: 300] +05/12 14:43:30 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.60s: + episode_total: mean=187.10s, total=187.10s, count=1, min=187104.2ms, max=187104.2ms + sensor_polling: mean=423.9ms, total=127.18s, count=300, min=377.8ms, max=845.7ms + save_trajectories: mean=11.41s, total=11.41s, count=1, min=11410.3ms, max=11410.3ms + physics_step: mean=24.7ms, total=7.41s, count=300, min=16.8ms, max=34.4ms + save_batch_prep: mean=5.57s, total=5.57s, count=1, min=5573.6ms, max=5573.6ms + task_sampling: mean=596.3ms, total=596.3ms, count=1, min=596.3ms, max=596.3ms + task_specific_sample: mean=589.8ms, total=589.8ms, count=1, min=589.8ms, max=589.8ms + scene_randomize: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms + mj_forward_sync: mean=608.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:43:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:43:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:43:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:43:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:43:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:43:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:43:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:43:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:43:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:43:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:43:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029116m [env.py: 870] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:43:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99102033 1.29240979 0.02911604] yaw=-147.1deg [env.py: 1019] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75632483 0.43483305 0.02911604] yaw=175.6deg [env.py: 1019] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:43:32 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:43:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 14:43:32 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93332434 0.58649514 0.02911604] yaw=-134.2deg [env.py: 1019] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:43:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.5ms, total=208.5ms [env.py: 1075] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.991, 1.292, 0.029) [env.py: 1079] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.1 deg [env.py: 1082] +05/12 14:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/12 14:43:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:43:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:43:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:43:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:43:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:43:32 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 14:43:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.174s [base_object_manipulation_planner_policy.py: 377] +05/12 14:43:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:43:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:43:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:43:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.636s, found feasible grasp: False [grasp_sample.py: 500] +05/12 14:43:35 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 14:43:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:43:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:43:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:43:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:43:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:43:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:43:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:43:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:43:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088060m [env.py: 870] +05/12 14:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:43:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.66399896 0.34613018 0.08805974] yaw=211.3deg [env.py: 1019] +05/12 14:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:43:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.2ms, retries=178.8ms, total=179.0ms [env.py: 1075] +05/12 14:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.664, 0.346, 0.088) [env.py: 1079] +05/12 14:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 211.3 deg [env.py: 1082] +05/12 14:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m [env.py: 1086] +05/12 14:43:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:43:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:43:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:43:37 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 14:43:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 14:43:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:43:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:43:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:43:38 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:43:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.430s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:43:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.794[m] 102.815[deg] [grasp_sample.py: 539] +05/12 14:43:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:43:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:43:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:43:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:43:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:43:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:43:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.41s (batch: 4.31s, save: 11.10s) [pipeline.py: 300] +05/12 14:43:48 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.01s: + episode_total: mean=143.74s, total=287.49s, count=2, min=91785.1ms, max=195700.1ms + sensor_polling: mean=433.7ms, total=186.05s, count=429, min=370.1ms, max=738.9ms + physics_step: mean=27.2ms, total=11.66s, count=429, min=18.5ms, max=95.3ms + save_trajectories: mean=11.10s, total=11.10s, count=1, min=11100.8ms, max=11100.8ms + save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4309.5ms, max=4309.5ms + task_sampling: mean=506.8ms, total=1.01s, count=2, min=488.4ms, max=525.1ms + task_specific_sample: mean=502.5ms, total=1.00s, count=2, min=484.8ms, max=520.2ms + scene_randomize: mean=2.6ms, total=5.3ms, count=2, min=1.9ms, max=3.4ms + mj_forward_sync: mean=537.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=26.7us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:43:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:43:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:43:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:43:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:43:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:43:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:43:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:43:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:43:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:43:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:43:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054557m [env.py: 870] +05/12 14:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:43:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7012789 0.60235914 0.05455708] yaw=-139.9deg [env.py: 1019] +05/12 14:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83629634 0.67909123 0.05455708] yaw=-143.5deg [env.py: 1019] +05/12 14:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91118337 0.56590376 0.05455708] yaw=-190.8deg [env.py: 1019] +05/12 14:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:43:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.9ms, total=104.9ms [env.py: 1075] +05/12 14:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.602, 0.055) [env.py: 1079] +05/12 14:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.9 deg [env.py: 1082] +05/12 14:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/12 14:43:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:43:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:43:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:43:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:43:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:43:50 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 14:43:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/12 14:43:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:43:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:43:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:43:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:43:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:43:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.986s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:43:54 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.635[m] 80.989[deg] [grasp_sample.py: 539] +05/12 14:43:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:43:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:43:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:43:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:43:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:43:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:43:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:43:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:44:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:44:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:44:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:44:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:44:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:44:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 14:44:02 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.650s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:44:02 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.508[deg] [grasp_sample.py: 539] +05/12 14:44:03 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:44:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 14:44:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:44:03 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:44:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:44:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:44:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:44:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:44:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:44:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:44:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012901m [env.py: 870] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:44:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7339975 0.38814323 0.01290083] yaw=196.2deg [env.py: 1019] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79761404 1.08223336 0.01290083] yaw=-114.3deg [env.py: 1019] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94447316 0.13537325 0.01290083] yaw=165.1deg [env.py: 1019] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:44:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.4ms, total=151.4ms [env.py: 1075] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.734, 0.388, 0.013) [env.py: 1079] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 196.2 deg [env.py: 1082] +05/12 14:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m [env.py: 1086] +05/12 14:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:44:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:44:05 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 14:44:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/12 14:44:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:44:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:44:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:44:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.187s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:44:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.608[m] 95.953[deg] [grasp_sample.py: 539] +05/12 14:44:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:44:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:44:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:44:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:44:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:44:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:44:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.96s (batch: 3.89s, save: 12.07s) [pipeline.py: 300] +05/12 14:44:20 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.46s: + episode_total: mean=179.58s, total=179.58s, count=1, min=179579.5ms, max=179579.5ms + sensor_polling: mean=417.3ms, total=125.19s, count=300, min=370.8ms, max=774.6ms + save_trajectories: mean=12.07s, total=12.07s, count=1, min=12067.9ms, max=12067.9ms + physics_step: mean=25.7ms, total=7.72s, count=300, min=17.2ms, max=38.6ms + save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3887.7ms, max=3887.7ms + task_sampling: mean=460.5ms, total=460.5ms, count=1, min=460.5ms, max=460.5ms + task_specific_sample: mean=455.7ms, total=455.7ms, count=1, min=455.7ms, max=455.7ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=594.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=28.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:44:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:44:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:44:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:44:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:44:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:44:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:44:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:44:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:44:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:44:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:44:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068932m [env.py: 870] +05/12 14:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:44:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90041523 0.84076809 0.06893216] yaw=-188.0deg [env.py: 1019] +05/12 14:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:44:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=202.5ms, total=202.6ms [env.py: 1075] +05/12 14:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.841, 0.069) [env.py: 1079] +05/12 14:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.0 deg [env.py: 1082] +05/12 14:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 14:44:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:44:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:44:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:44:22 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 14:44:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 14:44:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:44:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:44:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:44:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.953s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:44:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.565[m] 77.534[deg] [grasp_sample.py: 539] +05/12 14:44:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:44:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:44:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:44:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:44:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:45:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:45:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:45:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:45:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:45:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:45:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:45:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:45:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:45:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:45:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:46:13 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:46:14 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:46:30 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:46:39 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:46:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 14:46:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:46:43 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:46:45 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:46:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 14:46:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:46:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:46:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:46:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.87s (batch: 3.97s, save: 11.89s) [pipeline.py: 300] +05/12 14:46:55 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.42s: + episode_total: mean=186.19s, total=186.19s, count=1, min=186191.4ms, max=186191.4ms + sensor_polling: mean=428.2ms, total=128.46s, count=300, min=371.1ms, max=787.8ms + save_trajectories: mean=11.89s, total=11.89s, count=1, min=11895.0ms, max=11895.0ms + physics_step: mean=25.8ms, total=7.73s, count=300, min=18.2ms, max=36.6ms + save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3973.0ms, max=3973.0ms + task_sampling: mean=419.3ms, total=419.3ms, count=1, min=419.3ms, max=419.3ms + task_specific_sample: mean=415.2ms, total=415.2ms, count=1, min=415.2ms, max=415.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=461.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=92.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:46:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:46:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:46:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:46:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:46:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:46:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:46:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:46:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:46:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018796m [env.py: 870] +05/12 14:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:46:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98212701 1.31102475 0.01879574] yaw=-128.5deg [env.py: 1019] +05/12 14:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.08822912 1.18740047 0.01879574] yaw=-109.2deg [env.py: 1019] +05/12 14:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:46:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=233.7ms, total=233.8ms [env.py: 1075] +05/12 14:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 1.311, 0.019) [env.py: 1079] +05/12 14:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.5 deg [env.py: 1082] +05/12 14:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/12 14:46:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:46:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:46:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:46:58 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 14:46:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 14:46:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:46:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:46:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:46:58 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:46:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 14:46:58 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:47:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.568s, found feasible grasp: False [grasp_sample.py: 500] +05/12 14:47:00 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 14:47:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:47:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:47:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:47:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:47:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:47:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:47:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:47:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:47:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:47:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:47:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067221m [env.py: 870] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:47:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92020377 0.56444177 0.06722093] yaw=-157.5deg [env.py: 1019] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.61290958 0.45830138 0.06722093] yaw=211.2deg [env.py: 1019] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98178809 0.98375685 0.06722093] yaw=-137.2deg [env.py: 1019] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:47:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.2ms, total=167.2ms [env.py: 1075] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.920, 0.564, 0.067) [env.py: 1079] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.5 deg [env.py: 1082] +05/12 14:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m [env.py: 1086] +05/12 14:47:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:47:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:47:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:47:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:47:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:47:02 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 14:47:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 14:47:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:47:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:47:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:47:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:47:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:47:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 18.89s (batch: 6.73s, save: 12.16s) [pipeline.py: 300] +05/12 14:47:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.313s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:47:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.371[m] 87.889[deg] [grasp_sample.py: 539] +05/12 14:47:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:47:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:47:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:47:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:47:05 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.00s: + episode_total: mean=105.74s, total=211.49s, count=2, min=3472.8ms, max=208015.4ms + sensor_polling: mean=478.7ms, total=143.62s, count=300, min=380.0ms, max=1012.6ms + save_trajectories: mean=12.16s, total=12.16s, count=1, min=12158.4ms, max=12158.4ms + physics_step: mean=28.0ms, total=8.40s, count=300, min=21.4ms, max=40.9ms + save_batch_prep: mean=6.73s, total=6.73s, count=1, min=6727.8ms, max=6727.8ms + task_sampling: mean=501.9ms, total=1.00s, count=2, min=426.2ms, max=577.5ms + task_specific_sample: mean=497.1ms, total=994.3ms, count=2, min=423.1ms, max=571.2ms + scene_randomize: mean=3.0ms, total=6.1ms, count=2, min=1.2ms, max=4.9ms + mj_forward_sync: mean=456.9us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=18.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:47:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:47:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:47:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:47:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:47:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:47:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:47:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:47:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:47:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022854m [env.py: 870] +05/12 14:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:47:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89542209 0.43650161 0.02285385] yaw=192.3deg [env.py: 1019] +05/12 14:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74810343 0.39438059 0.02285385] yaw=140.0deg [env.py: 1019] +05/12 14:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70789495 0.85368684 0.02285385] yaw=-192.6deg [env.py: 1019] +05/12 14:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:47:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=191.3ms, total=191.3ms [env.py: 1075] +05/12 14:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.895, 0.437, 0.023) [env.py: 1079] +05/12 14:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 192.3 deg [env.py: 1082] +05/12 14:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/12 14:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:47:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:47:08 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 14:47:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s [base_object_manipulation_planner_policy.py: 377] +05/12 14:47:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:47:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:47:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:47:09 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:47:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 14:47:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:47:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.790s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:47:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.430[m] 94.017[deg] [grasp_sample.py: 539] +05/12 14:47:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:47:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:47:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:47:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:47:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:47:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:47:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.38s (batch: 4.46s, save: 10.92s) [pipeline.py: 300] +05/12 14:47:14 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.52s: + episode_total: mean=163.65s, total=490.95s, count=3, min=132675.6ms, max=189255.9ms + sensor_polling: mean=428.3ms, total=361.09s, count=843, min=372.7ms, max=839.9ms + physics_step: mean=26.3ms, total=22.15s, count=843, min=17.2ms, max=68.7ms + save_trajectories: mean=10.92s, total=10.92s, count=1, min=10920.4ms, max=10920.4ms + save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4463.6ms, max=4463.6ms + task_sampling: mean=506.5ms, total=1.52s, count=3, min=426.7ms, max=605.5ms + task_specific_sample: mean=502.0ms, total=1.51s, count=3, min=422.0ms, max=601.4ms + scene_randomize: mean=2.2ms, total=6.7ms, count=3, min=1.8ms, max=2.7ms + mj_forward_sync: mean=462.5us, total=1.4ms, count=3, min=0.5ms, max=0.5ms + policy_setup: mean=26.4us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:47:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:47:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:47:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:47:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:47:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:47:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:47:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:47:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:47:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029977m [env.py: 870] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:47:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67177772 0.85770817 0.02997683] yaw=-153.4deg [env.py: 1019] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93255514 0.39326464 0.02997683] yaw=208.6deg [env.py: 1019] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6698057 0.29211316 0.02997683] yaw=181.6deg [env.py: 1019] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:47:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.9ms, total=137.0ms [env.py: 1075] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.858, 0.030) [env.py: 1079] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.4 deg [env.py: 1082] +05/12 14:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/12 14:47:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:47:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:47:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:47:16 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 14:47:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/12 14:47:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:47:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:47:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:47:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.220s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:47:20 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.658[m] 86.435[deg] [grasp_sample.py: 539] +05/12 14:47:21 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:47:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:47:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:47:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:47:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:47:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:47:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:47:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:47:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:47:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021586m [env.py: 870] +05/12 14:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:47:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78996427 0.29865818 0.02158557] yaw=155.7deg [env.py: 1019] +05/12 14:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.99742527 1.30132904 0.02158557] yaw=-143.0deg [env.py: 1019] +05/12 14:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:47:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=180.2ms, total=180.2ms [env.py: 1075] +05/12 14:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.299, 0.022) [env.py: 1079] +05/12 14:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.7 deg [env.py: 1082] +05/12 14:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/12 14:47:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:47:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:47:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:47:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:47:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:47:23 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 14:47:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/12 14:47:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:47:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:47:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:47:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.853s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:47:24 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.481[m] 88.632[deg] [grasp_sample.py: 539] +05/12 14:47:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:47:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:47:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:47:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.55s (batch: 3.61s, save: 11.94s) [pipeline.py: 300] +05/12 14:47:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:47:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:47:25 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.54s: + episode_total: mean=183.38s, total=183.38s, count=1, min=183375.3ms, max=183375.3ms + sensor_polling: mean=428.3ms, total=128.50s, count=300, min=372.4ms, max=823.7ms + save_trajectories: mean=11.94s, total=11.94s, count=1, min=11942.5ms, max=11942.5ms + physics_step: mean=26.7ms, total=8.01s, count=300, min=21.5ms, max=37.1ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3606.0ms, max=3606.0ms + task_sampling: mean=537.4ms, total=537.4ms, count=1, min=537.4ms, max=537.4ms + task_specific_sample: mean=532.8ms, total=532.8ms, count=1, min=532.8ms, max=532.8ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=614.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:47:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:47:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:47:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:47:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:47:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:47:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:47:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:47:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:47:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:47:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010517m [env.py: 870] +05/12 14:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:47:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87704936 0.48291485 0.01051656] yaw=-162.3deg [env.py: 1019] +05/12 14:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75576686 0.32158195 0.01051656] yaw=165.4deg [env.py: 1019] +05/12 14:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85198155 0.48866862 0.01051656] yaw=-217.2deg [env.py: 1019] +05/12 14:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:47:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=268.1ms, total=268.2ms [env.py: 1075] +05/12 14:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.483, 0.011) [env.py: 1079] +05/12 14:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.3 deg [env.py: 1082] +05/12 14:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m [env.py: 1086] +05/12 14:47:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:47:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:47:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:47:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:47:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:47:27 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 14:47:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/12 14:47:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:47:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:47:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:47:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.885s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:47:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.400[m] 83.515[deg] [grasp_sample.py: 539] +05/12 14:47:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:47:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:47:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:47:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:47:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:47:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:47:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:47:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:48:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:48:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:48:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:48:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:48:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:48:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:48:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:48:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:49:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:49:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:49:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:49:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:49:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:49:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:49:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:49:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:49:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:49:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:49:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:49:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:49:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 14:49:14 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.774s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:49:14 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.456[deg] [grasp_sample.py: 539] +05/12 14:49:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:49:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:49:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:49:23 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:49:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:49:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:49:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:49:51 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:49:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 14:49:51 INFO: [Worker 0] Preparing episode data: 297 timesteps [save_utils.py: 278] +05/12 14:49:53 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:49:54 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:49:57 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:50:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:50:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:50:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 16.31s (batch: 4.74s, save: 11.57s) [pipeline.py: 300] +05/12 14:50:09 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.07s: + episode_total: mean=95.09s, total=190.18s, count=2, min=3409.5ms, max=186767.8ms + sensor_polling: mean=432.7ms, total=128.07s, count=296, min=376.9ms, max=796.8ms + save_trajectories: mean=11.57s, total=11.57s, count=1, min=11567.4ms, max=11567.4ms + physics_step: mean=27.8ms, total=8.24s, count=296, min=20.5ms, max=38.9ms + save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4742.8ms, max=4742.8ms + task_sampling: mean=533.2ms, total=1.07s, count=2, min=447.4ms, max=619.0ms + task_specific_sample: mean=529.3ms, total=1.06s, count=2, min=444.4ms, max=614.2ms + scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.2ms, max=3.1ms + mj_forward_sync: mean=542.2us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=24.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:50:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:50:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:50:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:50:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:50:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:50:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:50:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:50:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:50:11 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: 256] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041683m [env.py: 870] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:50:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9334091 0.69286608 0.04168285] yaw=-125.0deg [env.py: 1019] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84779937 1.16194361 0.04168285] yaw=-105.2deg [env.py: 1019] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:50:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=208.7ms, total=208.8ms [env.py: 1075] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.933, 0.693, 0.042) [env.py: 1079] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.0 deg [env.py: 1082] +05/12 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m [env.py: 1086] +05/12 14:50:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:50:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:50:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:50:11 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 14:50:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 14:50:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:50:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:50:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:50:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.875s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:50:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 100.795[deg] [grasp_sample.py: 539] +05/12 14:50:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:50:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:50:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:50:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:50:20 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:50:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 14:50:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:50:24 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:50:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 14:50:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:50:24 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:50:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 14:50:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:50:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:50:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:50:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 14.92s (batch: 4.30s, save: 10.62s) [pipeline.py: 300] +05/12 14:50:35 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.69s: + episode_total: mean=188.84s, total=188.84s, count=1, min=188843.4ms, max=188843.4ms + sensor_polling: mean=445.7ms, total=133.71s, count=300, min=372.4ms, max=887.7ms + save_trajectories: mean=10.62s, total=10.62s, count=1, min=10620.2ms, max=10620.2ms + physics_step: mean=26.8ms, total=8.04s, count=300, min=21.4ms, max=38.6ms + save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4303.1ms, max=4303.1ms + task_sampling: mean=689.9ms, total=689.9ms, count=1, min=689.9ms, max=689.9ms + task_specific_sample: mean=685.3ms, total=685.3ms, count=1, min=685.3ms, max=685.3ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=503.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=41.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:50:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:50:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:50:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:50:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:50:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:50:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:50:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:50:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:50:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075090m [env.py: 870] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:50:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 127.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62744004 0.53124102 0.07508957] yaw=-156.6deg [env.py: 1019] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.62627573 0.58647517 0.07508957] yaw=-205.5deg [env.py: 1019] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94693243 0.44766805 0.07508957] yaw=156.4deg [env.py: 1019] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:50:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=314.8ms, total=314.8ms [env.py: 1075] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.627, 0.531, 0.075) [env.py: 1079] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.6 deg [env.py: 1082] +05/12 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/12 14:50:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:50:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:50:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:50:37 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 14:50:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 14:50:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:50:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:50:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:50:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.549s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:50:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.682[m] 86.477[deg] [grasp_sample.py: 539] +05/12 14:50:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:50:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:50:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:50:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.35s (batch: 4.09s, save: 11.26s) [pipeline.py: 300] +05/12 14:50:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:50:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:50:40 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.95s: + episode_total: mean=101.26s, total=202.53s, count=2, min=5218.7ms, max=197310.6ms + sensor_polling: mean=460.7ms, total=138.20s, count=300, min=387.5ms, max=970.5ms + save_trajectories: mean=11.26s, total=11.26s, count=1, min=11262.9ms, max=11262.9ms + physics_step: mean=29.4ms, total=8.83s, count=300, min=18.1ms, max=50.6ms + save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4087.0ms, max=4087.0ms + task_sampling: mean=472.9ms, total=945.9ms, count=2, min=458.4ms, max=487.5ms + task_specific_sample: mean=468.0ms, total=935.9ms, count=2, min=452.4ms, max=483.5ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.8ms, max=2.6ms + mj_forward_sync: mean=458.0us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=26.2us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:50:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:50:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:50:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:50:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 16.86s (batch: 5.11s, save: 11.75s) [pipeline.py: 300] +05/12 14:50:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:50:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:50:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:50:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:50:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:50:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:50:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:50:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:50:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:50:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:50:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083862m [env.py: 870] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:50:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92990766 0.41728416 0.08386175] yaw=145.4deg [env.py: 1019] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68218745 0.73363579 0.08386175] yaw=-167.4deg [env.py: 1019] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75488659 0.19332651 0.08386175] yaw=125.8deg [env.py: 1019] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:50:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.5ms, total=228.6ms [env.py: 1075] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.417, 0.084) [env.py: 1079] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.4 deg [env.py: 1082] +05/12 14:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.775m [env.py: 1086] +05/12 14:50:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:50:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:50:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:50:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:50:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:50:42 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 14:50:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/12 14:50:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:50:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:50:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:50:42 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.60s: + episode_total: mean=214.73s, total=214.73s, count=1, min=214730.7ms, max=214730.7ms + sensor_polling: mean=468.5ms, total=140.56s, count=300, min=389.8ms, max=975.4ms + save_trajectories: mean=11.75s, total=11.75s, count=1, min=11750.5ms, max=11750.5ms + physics_step: mean=27.7ms, total=8.30s, count=300, min=16.7ms, max=58.0ms + save_batch_prep: mean=5.11s, total=5.11s, count=1, min=5105.6ms, max=5105.6ms + task_sampling: mean=595.8ms, total=595.8ms, count=1, min=595.8ms, max=595.8ms + task_specific_sample: mean=590.7ms, total=590.7ms, count=1, min=590.7ms, max=590.7ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=665.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=45.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:50:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.866s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:50:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.414[m] 87.519[deg] [grasp_sample.py: 539] +05/12 14:50:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:50:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:50:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:50:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:50:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:50:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:50:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:50:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:50:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:50:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:50:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:50:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:50:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:50:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065878m [env.py: 870] +05/12 14:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:50:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87376308 0.11764396 0.06587784] yaw=184.6deg [env.py: 1019] +05/12 14:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84576264 0.46659137 0.06587784] yaw=202.9deg [env.py: 1019] +05/12 14:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7421951 0.73322717 0.06587784] yaw=-147.6deg [env.py: 1019] +05/12 14:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:50:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=128.7ms, total=128.7ms [env.py: 1075] +05/12 14:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.874, 0.118, 0.066) [env.py: 1079] +05/12 14:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.6 deg [env.py: 1082] +05/12 14:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m [env.py: 1086] +05/12 14:50:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:50:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:50:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:50:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:50:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:50:45 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 14:50:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/12 14:50:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:50:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:50:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:50:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.887s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:50:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.546[m] 79.135[deg] [grasp_sample.py: 539] +05/12 14:50:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:50:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:50:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:50:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:50:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:51:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:51:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:51:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:51:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:51:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:51:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:51:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:51:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:51:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:51:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:51:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:51:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:51:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:51:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:51:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:51:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:51:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:51:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:51:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:51:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:51:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:52:34 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:52:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:52:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:52:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 60.859s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:52:53 INFO: [Worker 0] Feasible grasp found 220 (originally 105): w/ 0.283[m] 131.589[deg] [grasp_sample.py: 539] +05/12 14:52:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:52:55 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:52:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:52:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:52:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:52:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:52:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:52:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:52:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:52:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042319m [env.py: 870] +05/12 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:52:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:52:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=291.1ms, total=291.1ms [env.py: 1105] +05/12 14:52:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 285] +05/12 14:52:56 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/12 14:52:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:52:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:52:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:52:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:52:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:52:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:52:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:52:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:52:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:52:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020603m [env.py: 870] +05/12 14:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:52:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93507335 1.1803247 0.02060292] yaw=-123.4deg [env.py: 1019] +05/12 14:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77064099 0.7194223 0.02060292] yaw=-153.8deg [env.py: 1019] +05/12 14:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7245641 0.06887857 0.02060292] yaw=160.9deg [env.py: 1019] +05/12 14:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:52:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.1ms, total=126.2ms [env.py: 1075] +05/12 14:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 1.180, 0.021) [env.py: 1079] +05/12 14:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.4 deg [env.py: 1082] +05/12 14:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086] +05/12 14:52:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:52:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:52:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:52:58 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 14:52:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/12 14:52:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:52:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:52:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:53:03 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:53:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 14:53:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:53:07 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:53:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.095s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:53:07 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.664[m] 99.092[deg] [grasp_sample.py: 539] +05/12 14:53:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:53:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:53:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:53:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:53:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:53:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:53:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:53:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:53:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:53:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:53:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.86s (batch: 3.75s, save: 12.11s) [pipeline.py: 300] +05/12 14:53:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:53:19 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.52s: + episode_total: mean=188.81s, total=188.81s, count=1, min=188812.9ms, max=188812.9ms + sensor_polling: mean=437.5ms, total=131.25s, count=300, min=376.4ms, max=783.0ms + save_trajectories: mean=12.11s, total=12.11s, count=1, min=12110.2ms, max=12110.2ms + physics_step: mean=27.0ms, total=8.11s, count=300, min=18.3ms, max=31.8ms + save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3754.5ms, max=3754.5ms + task_sampling: mean=519.5ms, total=519.5ms, count=1, min=519.5ms, max=519.5ms + task_specific_sample: mean=515.6ms, total=515.6ms, count=1, min=515.6ms, max=515.6ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=468.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=25.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:53:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:53:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:53:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:53:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:53:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:53:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:53:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:53:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:53:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:53:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:53:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:53:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044505m [env.py: 870] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:53:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88926855 1.16652009 0.04450452] yaw=-147.9deg [env.py: 1019] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.11431585 1.17283877 0.04450452] yaw=-155.0deg [env.py: 1019] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90109601 0.16965627 0.04450452] yaw=196.7deg [env.py: 1019] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:53:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=214.1ms, total=214.2ms [env.py: 1075] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.889, 1.167, 0.045) [env.py: 1079] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.9 deg [env.py: 1082] +05/12 14:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/12 14:53:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:53:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:53:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:53:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:53:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:53:21 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 14:53:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/12 14:53:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:53:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:53:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:53:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:53:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:53:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:53:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:53:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:53:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 14:53:24 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.213s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:53:24 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.667[deg] [grasp_sample.py: 539] +05/12 14:53:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.729s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:53:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.626[m] 85.240[deg] [grasp_sample.py: 539] +05/12 14:53:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:53:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:53:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:53:25 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:53:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:53:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:53:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:53:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:53:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:53:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:53:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:53:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:53:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073006m [env.py: 870] +05/12 14:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:53:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80617788 0.9320484 0.07300641] yaw=-140.1deg [env.py: 1019] +05/12 14:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72947509 0.93698463 0.07300641] yaw=-140.8deg [env.py: 1019] +05/12 14:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80877111 0.51288191 0.07300641] yaw=-148.8deg [env.py: 1019] +05/12 14:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:53:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.6ms, total=161.7ms [env.py: 1075] +05/12 14:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.932, 0.073) [env.py: 1079] +05/12 14:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.1 deg [env.py: 1082] +05/12 14:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/12 14:53:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:53:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:53:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:53:28 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 14:53:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 14:53:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:53:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:53:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:53:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.555s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:53:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.557[m] 84.011[deg] [grasp_sample.py: 539] +05/12 14:53:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:53:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:53:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:53:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:53:36 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:53:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 14:53:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:53:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:53:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:53:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 16.44s (batch: 5.06s, save: 11.38s) [pipeline.py: 300] +05/12 14:53:53 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.54s: + episode_total: mean=192.15s, total=192.15s, count=1, min=192147.9ms, max=192147.9ms + sensor_polling: mean=434.0ms, total=130.21s, count=300, min=380.0ms, max=846.5ms + save_trajectories: mean=11.38s, total=11.38s, count=1, min=11379.7ms, max=11379.7ms + physics_step: mean=28.8ms, total=8.65s, count=300, min=16.8ms, max=39.2ms + save_batch_prep: mean=5.06s, total=5.06s, count=1, min=5055.6ms, max=5055.6ms + task_sampling: mean=539.7ms, total=539.7ms, count=1, min=539.7ms, max=539.7ms + task_specific_sample: mean=535.5ms, total=535.5ms, count=1, min=535.5ms, max=535.5ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=467.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:53:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:53:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:53:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:53:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:53:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:53:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:53:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024050m [env.py: 870] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:53:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97472425 0.81419973 0.02404955] yaw=-125.3deg [env.py: 1019] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67451651 0.82252273 0.02404955] yaw=-168.8deg [env.py: 1019] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9578949 0.88914507 0.02404955] yaw=-135.1deg [env.py: 1019] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:53:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.8ms, total=201.8ms [env.py: 1075] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.814, 0.024) [env.py: 1079] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.3 deg [env.py: 1082] +05/12 14:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m [env.py: 1086] +05/12 14:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:53:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:53:56 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 14:53:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 14:53:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:53:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:53:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:53:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.819s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:53:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.419[m] 84.834[deg] [grasp_sample.py: 539] +05/12 14:53:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:53:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:53:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:53:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:54:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:54:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:54:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:54:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:54:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:54:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:54:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:54:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:54:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:54:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:54:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:54:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:55:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:55:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:55:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:55:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:55:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:55:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:55:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:55:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:55:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:55:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:55:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:55:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:55:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:55:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:55:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:55:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:55:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:55:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:55:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 82 non-colliding grasps [grasp_sample.py: 465] +05/12 14:55:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:55:33 INFO: [Worker 0] Feasibility-checked 82 grasps in 2.631s, found feasible grasp: False [grasp_sample.py: 500] +05/12 14:55:33 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 14:55:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:55:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:55:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:55:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:55:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:55:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 14:55:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:55:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:55:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:55:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:55:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:55:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:55:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:55:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:55:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:55:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:55:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048255m [env.py: 870] +05/12 14:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:55:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.882813 0.87960052 0.04825475] yaw=-135.2deg [env.py: 1019] +05/12 14:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.77827894 0.68882493 0.04825475] yaw=-189.3deg [env.py: 1019] +05/12 14:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:55:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=249.8ms, total=249.9ms [env.py: 1075] +05/12 14:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.883, 0.880, 0.048) [env.py: 1079] +05/12 14:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.2 deg [env.py: 1082] +05/12 14:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/12 14:55:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:55:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:55:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:55:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:55:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:55:35 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 14:55:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 14:55:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:55:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:55:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:55:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.763s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:55:37 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.111[m] 0.395[deg] [grasp_sample.py: 539] +05/12 14:55:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:55:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.394s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:55:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.521[m] 95.211[deg] [grasp_sample.py: 539] +05/12 14:55:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:55:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:55:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:55:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:55:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:55:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:55:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:55:49 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:55:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:55:59 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 14:55:59 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=0.54s: + episode_total: mean=158.46s, total=158.46s, count=1, min=158456.5ms, max=158456.5ms + sensor_polling: mean=433.4ms, total=130.01s, count=300, min=375.2ms, max=809.5ms + physics_step: mean=26.2ms, total=7.86s, count=300, min=16.2ms, max=67.2ms + task_sampling: mean=541.9ms, total=541.9ms, count=1, min=541.9ms, max=541.9ms + task_specific_sample: mean=536.9ms, total=536.9ms, count=1, min=536.9ms, max=536.9ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=717.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:56:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:56:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:56:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:56:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:56:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:56:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:56:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:56:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:56:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:56:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:56:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008214m [env.py: 870] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:56:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65524683 0.56482604 0.0082137 ] yaw=-151.4deg [env.py: 1019] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72126633 0.32701536 0.0082137 ] yaw=200.2deg [env.py: 1019] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9374663 0.28368506 0.0082137 ] yaw=193.1deg [env.py: 1019] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:56:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=292.0ms, total=292.1ms [env.py: 1075] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.655, 0.565, 0.008) [env.py: 1079] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.4 deg [env.py: 1082] +05/12 14:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/12 14:56:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:56:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:56:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:56:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:56:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:56:02 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 14:56:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 14:56:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:56:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:56:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:56:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.441s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:56:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.641[m] 84.977[deg] [grasp_sample.py: 539] +05/12 14:56:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:56:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:56:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:56:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:56:19 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:56:20 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:56:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 14:56:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:56:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:56:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:56:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:56:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:56:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 16.62s (batch: 5.08s, save: 11.54s) [pipeline.py: 300] +05/12 14:56:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:56:37 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.04s: + episode_total: mean=175.56s, total=351.12s, count=2, min=161103.5ms, max=190019.5ms + sensor_polling: mean=438.0ms, total=250.10s, count=571, min=375.5ms, max=867.8ms + physics_step: mean=26.2ms, total=14.95s, count=571, min=18.5ms, max=35.8ms + save_trajectories: mean=11.54s, total=11.54s, count=1, min=11535.4ms, max=11535.4ms + save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5082.8ms, max=5082.8ms + task_sampling: mean=519.4ms, total=1.04s, count=2, min=507.4ms, max=531.4ms + task_specific_sample: mean=514.8ms, total=1.03s, count=2, min=503.4ms, max=526.1ms + scene_randomize: mean=2.8ms, total=5.5ms, count=2, min=1.9ms, max=3.6ms + mj_forward_sync: mean=534.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=22.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:56:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:56:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:56:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:56:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:56:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:56:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:56:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:56:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:56:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020304m [env.py: 870] +05/12 14:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:56:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01261788 0.93879453 0.02030353] yaw=-174.6deg [env.py: 1019] +05/12 14:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90905936 0.16080795 0.02030353] yaw=158.7deg [env.py: 1019] +05/12 14:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.63841166 0.48224354 0.02030353] yaw=-189.7deg [env.py: 1019] +05/12 14:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:56:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=313.1ms, total=313.2ms [env.py: 1075] +05/12 14:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.013, 0.939, 0.020) [env.py: 1079] +05/12 14:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.6 deg [env.py: 1082] +05/12 14:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/12 14:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:56:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:56:40 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 14:56:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 14:56:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:56:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:56:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:56:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.847s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:56:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.487[m] 99.222[deg] [grasp_sample.py: 539] +05/12 14:56:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:56:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:56:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:56:47 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:56:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 14:56:47 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:56:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:57:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:57:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:57:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:57:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:57:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 16.70s (batch: 4.61s, save: 12.09s) [pipeline.py: 300] +05/12 14:57:04 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.54s: + episode_total: mean=189.16s, total=189.16s, count=1, min=189158.8ms, max=189158.8ms + sensor_polling: mean=439.2ms, total=131.77s, count=300, min=376.4ms, max=944.0ms + save_trajectories: mean=12.09s, total=12.09s, count=1, min=12086.9ms, max=12086.9ms + physics_step: mean=26.1ms, total=7.82s, count=300, min=21.6ms, max=37.5ms + save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4609.7ms, max=4609.7ms + task_sampling: mean=542.3ms, total=542.3ms, count=1, min=542.3ms, max=542.3ms + task_specific_sample: mean=538.2ms, total=538.2ms, count=1, min=538.2ms, max=538.2ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=462.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:57:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:57:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:57:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:57:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:57:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:57:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:57:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:57:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:57:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:57:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053511m [env.py: 870] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:57:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91831554 1.19296305 0.05351141] yaw=-142.8deg [env.py: 1019] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86375929 0.57696117 0.05351141] yaw=-189.0deg [env.py: 1019] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87094615 0.19398192 0.05351141] yaw=191.1deg [env.py: 1019] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:57:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.3ms, total=180.4ms [env.py: 1075] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.918, 1.193, 0.054) [env.py: 1079] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.8 deg [env.py: 1082] +05/12 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m [env.py: 1086] +05/12 14:57:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:57:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:57:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:57:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:57:06 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 14:57:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 14:57:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:57:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:57:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:57:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:57:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.642s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:57:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.610[m] 82.100[deg] [grasp_sample.py: 539] +05/12 14:57:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:57:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:57:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:57:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:57:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:57:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:57:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:57:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:57:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:57:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:57:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:57:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:57:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:57:51 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:58:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:58:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:58:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:58:20 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:58:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 14:58:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:58:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:58:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:58:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 16.66s (batch: 4.62s, save: 12.04s) [pipeline.py: 300] +05/12 14:58:37 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.65s: + episode_total: mean=118.96s, total=475.84s, count=4, min=310.1ms, max=182156.3ms + sensor_polling: mean=426.2ms, total=300.45s, count=705, min=366.0ms, max=836.7ms + physics_step: mean=26.0ms, total=18.35s, count=705, min=17.4ms, max=66.4ms + save_trajectories: mean=12.04s, total=12.04s, count=1, min=12042.8ms, max=12042.8ms + save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4615.2ms, max=4615.2ms + task_specific_sample: mean=483.4ms, total=1.93s, count=4, min=297.2ms, max=658.3ms + task_sampling: mean=549.0ms, total=1.65s, count=3, min=432.3ms, max=662.2ms + task_sampling_failed: mean=310.0ms, total=310.0ms, count=1, min=310.0ms, max=310.0ms + scene_randomize: mean=1.9ms, total=7.6ms, count=4, min=1.2ms, max=2.6ms + mj_forward_sync: mean=449.4us, total=1.8ms, count=4, min=0.4ms, max=0.5ms + policy_setup: mean=24.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:58:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:58:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:58:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:58:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:58:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:58:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:58:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:58:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:58:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065925m [env.py: 870] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:58:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91926497 0.45664522 0.06592495] yaw=203.7deg [env.py: 1019] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84239121 0.07155624 0.06592495] yaw=131.0deg [env.py: 1019] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.63812903 0.61410128 0.06592495] yaw=-200.5deg [env.py: 1019] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:58:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=173.8ms, total=173.8ms [env.py: 1075] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.457, 0.066) [env.py: 1079] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 203.7 deg [env.py: 1082] +05/12 14:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.783m [env.py: 1086] +05/12 14:58:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:58:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:58:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:58:39 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 14:58:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 14:58:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:58:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:58:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:58:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.803s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:58:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.417[m] 89.782[deg] [grasp_sample.py: 539] +05/12 14:58:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:58:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:58:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:58:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:58:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 93.570s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:58:45 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.249[m] 169.010[deg] [grasp_sample.py: 539] +05/12 14:58:47 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:58:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:58:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:58:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:58:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:58:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:58:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:58:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013204m [env.py: 870] +05/12 14:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:58:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95941995 0.0780909 0.01320388] yaw=142.1deg [env.py: 1019] +05/12 14:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91058019 0.58843426 0.01320388] yaw=-166.7deg [env.py: 1019] +05/12 14:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91495636 0.40358979 0.01320388] yaw=193.5deg [env.py: 1019] +05/12 14:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:58:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.9ms, total=143.0ms [env.py: 1075] +05/12 14:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.078, 0.013) [env.py: 1079] +05/12 14:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.1 deg [env.py: 1082] +05/12 14:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m [env.py: 1086] +05/12 14:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:58:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:58:49 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 14:58:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/12 14:58:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:58:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:58:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:58:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.877s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:58:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.387[m] 92.282[deg] [grasp_sample.py: 539] +05/12 14:58:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:58:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:58:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:58:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:58:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:58:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:58:59 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:59:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:59:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:59:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:59:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:59:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:59:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:59:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 14:59:08 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.947s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:59:08 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.117[m] 3.611[deg] [grasp_sample.py: 539] +05/12 14:59:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:59:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:59:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:59:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:59:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:59:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:59:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:59:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:59:29 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 14:59:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 14:59:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:59:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:59:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:59:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:59:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:59:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:59:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:59:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:59:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:59:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:59:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:59:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:59:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 14:59:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 16.58s (batch: 4.84s, save: 11.75s) [pipeline.py: 300] +05/12 14:59:46 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.62s: + episode_total: mean=186.47s, total=186.47s, count=1, min=186472.8ms, max=186472.8ms + sensor_polling: mean=425.5ms, total=127.64s, count=300, min=371.8ms, max=802.9ms + save_trajectories: mean=11.75s, total=11.75s, count=1, min=11746.5ms, max=11746.5ms + physics_step: mean=26.1ms, total=7.84s, count=300, min=21.4ms, max=41.9ms + save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4837.0ms, max=4837.0ms + task_sampling: mean=617.4ms, total=617.4ms, count=1, min=617.4ms, max=617.4ms + task_specific_sample: mean=612.7ms, total=612.7ms, count=1, min=612.7ms, max=612.7ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=606.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:59:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:59:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:59:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:59:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:59:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:59:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 14:59:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:59:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:59:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:59:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:59:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:59:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:59:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:59:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:59:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036664m [env.py: 870] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:59:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64109544 0.59550505 0.03666358] yaw=-192.2deg [env.py: 1019] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90739071 1.18523886 0.03666358] yaw=-131.4deg [env.py: 1019] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9528992 0.10259986 0.03666358] yaw=176.0deg [env.py: 1019] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:59:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.4ms, total=183.5ms [env.py: 1075] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.596, 0.037) [env.py: 1079] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -192.2 deg [env.py: 1082] +05/12 14:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m [env.py: 1086] +05/12 14:59:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:59:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:59:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:59:48 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 14:59:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/12 14:59:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:59:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:59:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:59:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.731s, found feasible grasp: False [grasp_sample.py: 500] +05/12 14:59:49 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 14:59:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.261s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:59:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.646[m] 78.157[deg] [grasp_sample.py: 539] +05/12 14:59:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:59:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:59:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:59:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:59:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:59:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:59:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:59:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:59:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:59:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:59:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:59:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:59:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:59:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:59:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084148m [env.py: 870] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:59:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91323954 0.16623709 0.08414825] yaw=128.8deg [env.py: 1019] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83890557 0.54260771 0.08414825] yaw=-141.2deg [env.py: 1019] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9057363 1.04630526 0.08414825] yaw=-126.8deg [env.py: 1019] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:59:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=217.0ms, total=217.1ms [env.py: 1075] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.913, 0.166, 0.084) [env.py: 1079] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 128.8 deg [env.py: 1082] +05/12 14:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/12 14:59:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:59:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:59:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:59:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:59:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:59:51 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 14:59:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 14:59:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 14:59:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:59:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:59:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.608s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:59:54 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.474[m] 90.913[deg] [grasp_sample.py: 539] +05/12 14:59:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:59:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:59:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:59:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:00:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:00:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:00:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:00:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:00:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 15:00:15 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.698s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:00:15 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.278[deg] [grasp_sample.py: 539] +05/12 15:00:17 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:00:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:00:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:00:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:00:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:00:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:00:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:00:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:00:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:00:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041300m [env.py: 870] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:00:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0101538 0.84826322 0.04130026] yaw=-173.6deg [env.py: 1019] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89184468 1.01046549 0.04130026] yaw=-137.6deg [env.py: 1019] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.04154813 1.17650794 0.04130026] yaw=-171.9deg [env.py: 1019] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:00:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.5ms, total=198.5ms [env.py: 1075] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.010, 0.848, 0.041) [env.py: 1079] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.6 deg [env.py: 1082] +05/12 15:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.783m [env.py: 1086] +05/12 15:00:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:00:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:00:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:00:19 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 15:00:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 15:00:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:00:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:00:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:00:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.915s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:00:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.424[m] 84.426[deg] [grasp_sample.py: 539] +05/12 15:00:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:00:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:00:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:00:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:00:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:00:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:00:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:00:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:00:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:00:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:00:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:01:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:01:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:01:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:01:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:01:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:01:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:01:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:01:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:01:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:01:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:01:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 15:01:08 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.667s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:01:08 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.045[m] 0.923[deg] [grasp_sample.py: 539] +05/12 15:01:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:01:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:01:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:01:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:01:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:01:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:01:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:01:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:01:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:01:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:01:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:01:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:01:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:01:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:01:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:01:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:01:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:01:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:01:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:01:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 15:01:45 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:01:46 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.961s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:01:46 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.727[deg] [grasp_sample.py: 539] +05/12 15:01:47 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:01:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:01:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:01:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:01:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:01:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:01:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:01:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:01:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:01:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077380m [env.py: 870] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:01:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77888619 0.9208879 0.07737958] yaw=-165.3deg [env.py: 1019] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88175653 0.48560937 0.07737958] yaw=-167.8deg [env.py: 1019] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.6432025 0.32972461 0.07737958] yaw=211.9deg [env.py: 1019] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:01:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.9ms, total=202.9ms [env.py: 1075] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.921, 0.077) [env.py: 1079] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.3 deg [env.py: 1082] +05/12 15:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/12 15:01:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:01:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:01:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:01:50 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 15:01:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/12 15:01:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:01:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:01:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:01:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.529s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:01:55 INFO: [Worker 0] Feasible grasp found 86 (originally 86): w/ 0.586[m] 81.257[deg] [grasp_sample.py: 539] +05/12 15:01:57 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:01:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:01:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:01:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:01:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:01:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:01:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:01:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:01:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:01:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:01:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:01:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087844m [env.py: 870] +05/12 15:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:01:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8803491 0.32548755 0.08784403] yaw=169.8deg [env.py: 1019] +05/12 15:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93323626 0.07263539 0.08784403] yaw=112.0deg [env.py: 1019] +05/12 15:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84971109 1.15980624 0.08784403] yaw=-168.4deg [env.py: 1019] +05/12 15:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:01:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=162.5ms, total=162.5ms [env.py: 1075] +05/12 15:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.325, 0.088) [env.py: 1079] +05/12 15:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg [env.py: 1082] +05/12 15:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m [env.py: 1086] +05/12 15:01:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:01:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:01:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:01:59 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 15:01:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 15:01:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:01:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:01:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:02:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.789s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:02:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.407[m] 93.804[deg] [grasp_sample.py: 539] +05/12 15:02:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:02:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:02:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:02:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:02:14 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:02:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 15:02:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:02:17 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:02:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:02:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:02:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 16.18s (batch: 4.43s, save: 11.75s) [pipeline.py: 300] +05/12 15:02:31 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.05s: + episode_total: mean=193.99s, total=387.97s, count=2, min=165670.1ms, max=222304.2ms + sensor_polling: mean=429.1ms, total=179.38s, count=418, min=372.0ms, max=795.8ms + save_trajectories: mean=11.75s, total=11.75s, count=1, min=11753.3ms, max=11753.3ms + physics_step: mean=26.3ms, total=11.01s, count=418, min=17.0ms, max=72.5ms + save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4427.5ms, max=4427.5ms + task_sampling: mean=524.9ms, total=1.05s, count=2, min=450.4ms, max=599.4ms + task_specific_sample: mean=520.5ms, total=1.04s, count=2, min=446.0ms, max=595.0ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.9ms, max=2.0ms + mj_forward_sync: mean=451.7us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=115.6us, total=0.2ms, count=2, min=0.0ms, max=0.2ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:02:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:02:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:02:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:02:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:02:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:02:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:02:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:02:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:02:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069152m [env.py: 870] +05/12 15:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:02:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07287884 0.89986063 0.06915181] yaw=-130.7deg [env.py: 1019] +05/12 15:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93057446 1.03044221 0.06915181] yaw=-139.5deg [env.py: 1019] +05/12 15:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:02:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=467.2ms, total=467.3ms [env.py: 1075] +05/12 15:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.073, 0.900, 0.069) [env.py: 1079] +05/12 15:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.7 deg [env.py: 1082] +05/12 15:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m [env.py: 1086] +05/12 15:02:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:02:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:02:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:02:33 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 15:02:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 15:02:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:02:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:02:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:02:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:02:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.376[m] 97.203[deg] [grasp_sample.py: 539] +05/12 15:02:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:02:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:02:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:02:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:02:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:02:41 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:02:44 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:02:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 15:02:44 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:02:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:02:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:03:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:03:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:03:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 17.35s (batch: 4.96s, save: 12.39s) [pipeline.py: 300] +05/12 15:03:02 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.52s: + episode_total: mean=194.25s, total=194.25s, count=1, min=194246.8ms, max=194246.8ms + sensor_polling: mean=454.1ms, total=136.23s, count=300, min=375.1ms, max=904.2ms + save_trajectories: mean=12.39s, total=12.39s, count=1, min=12390.0ms, max=12390.0ms + physics_step: mean=28.1ms, total=8.43s, count=300, min=17.9ms, max=44.0ms + save_batch_prep: mean=4.96s, total=4.96s, count=1, min=4955.4ms, max=4955.4ms + task_sampling: mean=517.6ms, total=517.6ms, count=1, min=517.6ms, max=517.6ms + task_specific_sample: mean=513.7ms, total=513.7ms, count=1, min=513.7ms, max=513.7ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=451.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=29.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:03:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:03:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:03:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:03:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:03:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:03:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:03:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:03:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:03:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:03:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:03:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068918m [env.py: 870] +05/12 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:03:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74783121 0.4465525 0.06891841] yaw=204.0deg [env.py: 1019] +05/12 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87026968 0.24040254 0.06891841] yaw=200.8deg [env.py: 1019] +05/12 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9222272 1.23469822 0.06891841] yaw=-131.0deg [env.py: 1019] +05/12 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:03:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=314.6ms, total=314.6ms [env.py: 1075] +05/12 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.447, 0.069) [env.py: 1079] +05/12 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 204.0 deg [env.py: 1082] +05/12 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/12 15:03:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:03:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:03:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:03:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:03:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:03:04 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 15:03:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 15:03:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:03:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:03:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:03:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.381s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:03:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.610[m] 102.330[deg] [grasp_sample.py: 539] +05/12 15:03:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:03:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:03:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:03:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:03:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:03:12 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:03:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 15:03:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:03:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:03:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:03:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:03:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:03:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 18.32s (batch: 5.29s, save: 13.03s) [pipeline.py: 300] +05/12 15:03:31 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.33s: + episode_total: mean=145.61s, total=291.22s, count=2, min=98168.7ms, max=193049.1ms + sensor_polling: mean=429.4ms, total=207.83s, count=484, min=377.9ms, max=931.9ms + save_trajectories: mean=13.03s, total=13.03s, count=1, min=13028.9ms, max=13028.9ms + physics_step: mean=26.2ms, total=12.68s, count=484, min=16.9ms, max=68.7ms + save_batch_prep: mean=5.29s, total=5.29s, count=1, min=5288.5ms, max=5288.5ms + task_sampling: mean=664.1ms, total=1.33s, count=2, min=466.2ms, max=861.9ms + task_specific_sample: mean=659.6ms, total=1.32s, count=2, min=462.2ms, max=857.0ms + scene_randomize: mean=2.6ms, total=5.3ms, count=2, min=1.9ms, max=3.3ms + mj_forward_sync: mean=539.2us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:03:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:03:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:03:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:03:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:03:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:03:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:03:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:03:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:03:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:03:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036380m [env.py: 870] +05/12 15:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:03:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92300166 0.97107846 0.03638044] yaw=-186.4deg [env.py: 1019] +05/12 15:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70699008 0.70403378 0.03638044] yaw=-166.9deg [env.py: 1019] +05/12 15:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:03:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.2ms, total=226.3ms [env.py: 1075] +05/12 15:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.923, 0.971, 0.036) [env.py: 1079] +05/12 15:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.4 deg [env.py: 1082] +05/12 15:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/12 15:03:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:03:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:03:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:03:33 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 15:03:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/12 15:03:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:03:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:03:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:03:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:03:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:03:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.719s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:03:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.665[m] 90.370[deg] [grasp_sample.py: 539] +05/12 15:03:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:03:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:03:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:03:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:03:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:03:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:03:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:03:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:03:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:03:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:03:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:03:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.099s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 15:03:46 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.612s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:03:46 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.777[deg] [grasp_sample.py: 539] +05/12 15:03:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:03:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:03:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:03:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:04:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:04:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:04:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:04:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:04:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:04:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:04:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:04:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:04:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:04:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:04:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:04:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:04:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:04:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:04:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:04:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:04:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:04:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/12 15:04:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:04:39 INFO: [Worker 0] Feasibility-checked 70 grasps in 4.303s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:04:39 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.052[m] 8.645[deg] [grasp_sample.py: 539] +05/12 15:04:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:04:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:04:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:04:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:04:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:04:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:04:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:04:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:04:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:04:51 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:04:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:04:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:04:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:04:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:05:05 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:05:18 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:05:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 15:05:18 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/12 15:05:24 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:05:32 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:05:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 15:05:32 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:05:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:05:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:05:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.41s (batch: 3.86s, save: 11.55s) [pipeline.py: 300] +05/12 15:05:34 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.83s: + episode_total: mean=182.51s, total=182.51s, count=1, min=182512.9ms, max=182512.9ms + sensor_polling: mean=423.7ms, total=126.69s, count=299, min=371.9ms, max=818.4ms + save_trajectories: mean=11.55s, total=11.55s, count=1, min=11554.5ms, max=11554.5ms + physics_step: mean=26.8ms, total=8.02s, count=299, min=18.0ms, max=51.1ms + save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3859.0ms, max=3859.0ms + task_sampling: mean=831.7ms, total=831.7ms, count=1, min=831.7ms, max=831.7ms + task_specific_sample: mean=827.7ms, total=827.7ms, count=1, min=827.7ms, max=827.7ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=453.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:05:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:05:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:05:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:05:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:05:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:05:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:05:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:05:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:05:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043405m [env.py: 870] +05/12 15:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:05:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94721313 0.67430042 0.04340493] yaw=-146.5deg [env.py: 1019] +05/12 15:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:05:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.9ms, total=203.9ms [env.py: 1075] +05/12 15:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.947, 0.674, 0.043) [env.py: 1079] +05/12 15:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.5 deg [env.py: 1082] +05/12 15:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.779m [env.py: 1086] +05/12 15:05:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:05:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:05:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:05:36 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 15:05:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 15:05:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:05:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:05:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:05:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.040s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:05:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.395[m] 91.925[deg] [grasp_sample.py: 539] +05/12 15:05:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:05:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:05:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:05:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:05:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:05:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:05:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.00s (batch: 3.82s, save: 11.18s) [pipeline.py: 300] +05/12 15:05:48 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.96s: + episode_total: mean=129.16s, total=516.65s, count=4, min=7513.0ms, max=229179.8ms + sensor_polling: mean=416.3ms, total=343.42s, count=825, min=367.8ms, max=893.8ms + physics_step: mean=25.0ms, total=20.63s, count=825, min=15.1ms, max=40.3ms + save_trajectories: mean=11.18s, total=11.18s, count=1, min=11180.5ms, max=11180.5ms + save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3820.3ms, max=3820.3ms + task_sampling: mean=490.3ms, total=1.96s, count=4, min=443.0ms, max=540.1ms + task_specific_sample: mean=486.5ms, total=1.95s, count=4, min=439.7ms, max=536.5ms + scene_randomize: mean=1.8ms, total=7.0ms, count=4, min=1.2ms, max=2.8ms + mj_forward_sync: mean=455.5us, total=1.8ms, count=4, min=0.4ms, max=0.5ms + policy_setup: mean=22.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:05:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:05:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:05:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:05:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:05:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:05:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:05:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:05:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:05:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033421m [env.py: 870] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:05:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.62784113 0.66686542 0.03342095] yaw=-156.5deg [env.py: 1019] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85482451 0.10936472 0.03342095] yaw=125.5deg [env.py: 1019] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95773516 1.00784483 0.03342095] yaw=-110.0deg [env.py: 1019] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:05:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.1ms, total=187.2ms [env.py: 1075] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.628, 0.667, 0.033) [env.py: 1079] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg [env.py: 1082] +05/12 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/12 15:05:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:05:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:05:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:05:50 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 15:05:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 15:05:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:05:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:05:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:05:51 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:05:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 15:05:51 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:05:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.422s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:05:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.637[m] 74.829[deg] [grasp_sample.py: 539] +05/12 15:05:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:05:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:05:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:05:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:05:59 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:06:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:06:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:06:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 16.37s (batch: 5.05s, save: 11.32s) [pipeline.py: 300] +05/12 15:06:09 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.64s: + episode_total: mean=185.10s, total=185.10s, count=1, min=185100.5ms, max=185100.5ms + sensor_polling: mean=426.9ms, total=128.08s, count=300, min=375.3ms, max=893.5ms + save_trajectories: mean=11.32s, total=11.32s, count=1, min=11316.4ms, max=11316.4ms + physics_step: mean=25.5ms, total=7.64s, count=300, min=17.1ms, max=81.5ms + save_batch_prep: mean=5.05s, total=5.05s, count=1, min=5052.2ms, max=5052.2ms + task_sampling: mean=637.3ms, total=637.3ms, count=1, min=637.3ms, max=637.3ms + task_specific_sample: mean=633.1ms, total=633.1ms, count=1, min=633.1ms, max=633.1ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=466.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=26.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:06:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:06:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:06:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:06:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:06:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:06:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:06:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:06:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:06:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099364m [env.py: 870] +05/12 15:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:06:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81544136 0.68587688 0.09936373] yaw=-161.7deg [env.py: 1019] +05/12 15:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71345433 0.46752787 0.09936373] yaw=176.2deg [env.py: 1019] +05/12 15:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69034692 0.61800716 0.09936373] yaw=-138.4deg [env.py: 1019] +05/12 15:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:06:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=383.6ms, total=383.7ms [env.py: 1075] +05/12 15:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.686, 0.099) [env.py: 1079] +05/12 15:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg [env.py: 1082] +05/12 15:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m [env.py: 1086] +05/12 15:06:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:06:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:06:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:06:11 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 15:06:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 15:06:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:06:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:06:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:06:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:06:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.878s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:06:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.496[m] 87.924[deg] [grasp_sample.py: 539] +05/12 15:06:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:06:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:06:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:06:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:06:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:06:27 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:06:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 15:06:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:06:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:06:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:06:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 14.26s (batch: 3.50s, save: 10.76s) [pipeline.py: 300] +05/12 15:06:42 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.57s: + episode_total: mean=189.28s, total=189.28s, count=1, min=189280.3ms, max=189280.3ms + sensor_polling: mean=437.6ms, total=131.29s, count=300, min=368.3ms, max=856.7ms + save_trajectories: mean=10.76s, total=10.76s, count=1, min=10760.4ms, max=10760.4ms + physics_step: mean=28.6ms, total=8.58s, count=300, min=21.9ms, max=40.6ms + save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3497.6ms, max=3497.6ms + task_sampling: mean=569.4ms, total=569.4ms, count=1, min=569.4ms, max=569.4ms + task_specific_sample: mean=564.9ms, total=564.9ms, count=1, min=564.9ms, max=564.9ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=456.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=23.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:06:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:06:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:06:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:06:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:06:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:06:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:06:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:06:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:06:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086908m [env.py: 870] +05/12 15:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:06:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76222285 0.87607448 0.08690849] yaw=-172.9deg [env.py: 1019] +05/12 15:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62896121 0.70443209 0.08690849] yaw=-176.9deg [env.py: 1019] +05/12 15:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68351281 0.47780918 0.08690849] yaw=151.5deg [env.py: 1019] +05/12 15:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:06:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=224.9ms, total=225.0ms [env.py: 1075] +05/12 15:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.876, 0.087) [env.py: 1079] +05/12 15:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.9 deg [env.py: 1082] +05/12 15:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m [env.py: 1086] +05/12 15:06:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:06:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:06:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:06:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:06:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:06:44 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 15:06:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/12 15:06:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:06:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:06:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:06:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.660s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:06:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.607[m] 94.174[deg] [grasp_sample.py: 539] +05/12 15:06:48 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:06:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:06:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:06:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:06:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:06:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:06:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:06:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:06:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:06:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:06:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:06:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:06:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007227m [env.py: 870] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:06:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64868705 0.40945444 0.00722705] yaw=201.7deg [env.py: 1019] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80235781 0.47877099 0.00722705] yaw=156.4deg [env.py: 1019] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.67767557 0.60832086 0.00722705] yaw=-178.8deg [env.py: 1019] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:06:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=271.8ms, total=271.8ms [env.py: 1075] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.649, 0.409, 0.007) [env.py: 1079] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 201.7 deg [env.py: 1082] +05/12 15:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m [env.py: 1086] +05/12 15:06:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:06:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:06:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:06:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:06:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:06:51 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 15:06:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/12 15:06:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:06:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:06:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:06:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.190s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:06:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.706[m] 95.304[deg] [grasp_sample.py: 539] +05/12 15:06:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:06:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:06:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:06:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:06:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:07:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:07:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:07:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:07:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:07:59 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:08:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:08:13 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:08:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:08:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:08:27 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:08:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 15:08:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:08:40 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:08:41 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:08:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 15:08:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:08:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:08:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:08:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 16.71s (batch: 4.32s, save: 12.39s) [pipeline.py: 300] +05/12 15:08:44 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.51s: + episode_total: mean=188.00s, total=188.00s, count=1, min=187998.4ms, max=187998.4ms + sensor_polling: mean=431.5ms, total=129.45s, count=300, min=371.0ms, max=826.7ms + save_trajectories: mean=12.39s, total=12.39s, count=1, min=12390.2ms, max=12390.2ms + physics_step: mean=26.8ms, total=8.04s, count=300, min=16.7ms, max=63.6ms + save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4322.6ms, max=4322.6ms + task_sampling: mean=506.9ms, total=506.9ms, count=1, min=506.9ms, max=506.9ms + task_specific_sample: mean=503.0ms, total=503.0ms, count=1, min=503.0ms, max=503.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=460.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:08:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:08:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:08:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:08:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:08:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:08:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:08:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:08:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:08:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:08:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:08:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064882m [env.py: 870] +05/12 15:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:08:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.13491247 1.10694123 0.0648824 ] yaw=-102.2deg [env.py: 1019] +05/12 15:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83456367 0.03935663 0.0648824 ] yaw=164.4deg [env.py: 1019] +05/12 15:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70399221 0.04426788 0.0648824 ] yaw=117.1deg [env.py: 1019] +05/12 15:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:08:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.1ms, total=209.1ms [env.py: 1075] +05/12 15:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.135, 1.107, 0.065) [env.py: 1079] +05/12 15:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -102.2 deg [env.py: 1082] +05/12 15:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m [env.py: 1086] +05/12 15:08:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:08:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:08:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:08:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:08:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:08:46 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 15:08:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 15:08:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:08:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:08:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:08:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.744s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:08:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.518[m] 100.290[deg] [grasp_sample.py: 539] +05/12 15:08:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:08:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:08:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:08:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:08:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:08:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:08:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.86s (batch: 4.15s, save: 11.72s) [pipeline.py: 300] +05/12 15:08:57 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.50s: + episode_total: mean=187.90s, total=187.90s, count=1, min=187903.6ms, max=187903.6ms + sensor_polling: mean=432.0ms, total=129.60s, count=300, min=360.1ms, max=840.6ms + save_trajectories: mean=11.72s, total=11.72s, count=1, min=11718.5ms, max=11718.5ms + physics_step: mean=27.4ms, total=8.21s, count=300, min=16.7ms, max=55.2ms + save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4146.4ms, max=4146.4ms + task_sampling: mean=496.5ms, total=496.5ms, count=1, min=496.5ms, max=496.5ms + task_specific_sample: mean=492.4ms, total=492.4ms, count=1, min=492.4ms, max=492.4ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=455.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:08:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:08:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:08:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:08:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:08:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:08:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:08:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:08:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:08:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014409m [env.py: 870] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:08:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99027258 0.90474339 0.01440915] yaw=-135.5deg [env.py: 1019] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99109324 1.1308798 0.01440915] yaw=-131.0deg [env.py: 1019] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85989344 0.61662519 0.01440915] yaw=-205.2deg [env.py: 1019] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:08:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.9ms, total=151.9ms [env.py: 1075] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.905, 0.014) [env.py: 1079] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.5 deg [env.py: 1082] +05/12 15:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/12 15:08:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:08:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:08:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:08:59 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 15:08:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 15:08:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:08:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:08:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:09:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.286s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:09:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.414[m] 89.397[deg] [grasp_sample.py: 539] +05/12 15:09:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:09:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:09:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:09:07 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:09:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 15:09:07 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:09:19 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:09:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:09:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:09:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 17.75s (batch: 4.93s, save: 12.82s) [pipeline.py: 300] +05/12 15:09:25 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.69s: + episode_total: mean=195.00s, total=195.00s, count=1, min=194996.3ms, max=194996.3ms + sensor_polling: mean=451.6ms, total=135.47s, count=300, min=373.8ms, max=952.7ms + save_trajectories: mean=12.82s, total=12.82s, count=1, min=12815.2ms, max=12815.2ms + physics_step: mean=27.8ms, total=8.33s, count=300, min=21.5ms, max=38.8ms + save_batch_prep: mean=4.93s, total=4.93s, count=1, min=4933.6ms, max=4933.6ms + task_sampling: mean=693.6ms, total=693.6ms, count=1, min=693.6ms, max=693.6ms + task_specific_sample: mean=689.5ms, total=689.5ms, count=1, min=689.5ms, max=689.5ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=465.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:09:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:09:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:09:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:09:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:09:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:09:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:09:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:09:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:09:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:09:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:09:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089856m [env.py: 870] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:09:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.61686106 0.5691049 0.08985553] yaw=-171.2deg [env.py: 1019] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93956326 0.70801086 0.08985553] yaw=-190.3deg [env.py: 1019] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87857576 0.91370024 0.08985553] yaw=-149.7deg [env.py: 1019] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:09:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=272.6ms, total=272.7ms [env.py: 1075] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.617, 0.569, 0.090) [env.py: 1079] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.2 deg [env.py: 1082] +05/12 15:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m [env.py: 1086] +05/12 15:09:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:09:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:09:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:09:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:09:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:09:28 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 15:09:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 15:09:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:09:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:09:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:09:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.469s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:09:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.630[m] 89.627[deg] [grasp_sample.py: 539] +05/12 15:09:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:09:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:09:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:09:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:09:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:09:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:09:45 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:09:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 15:09:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:09:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:09:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:09:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:09:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:10:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:10:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:10:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.62s (batch: 4.02s, save: 11.61s) [pipeline.py: 300] +05/12 15:10:02 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.16s: + episode_total: mean=97.94s, total=195.89s, count=2, min=4705.0ms, max=191182.6ms + sensor_polling: mean=443.2ms, total=132.96s, count=300, min=376.6ms, max=927.8ms + save_trajectories: mean=11.61s, total=11.61s, count=1, min=11607.7ms, max=11607.7ms + physics_step: mean=27.3ms, total=8.20s, count=300, min=21.5ms, max=63.4ms + save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4017.1ms, max=4017.1ms + task_sampling: mean=581.5ms, total=1.16s, count=2, min=574.0ms, max=589.1ms + task_specific_sample: mean=574.6ms, total=1.15s, count=2, min=564.3ms, max=584.9ms + scene_randomize: mean=2.8ms, total=5.6ms, count=2, min=2.8ms, max=2.8ms + mj_forward_sync: mean=531.4us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=20.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:10:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:10:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:10:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:10:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:10:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:10:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:10:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:10:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:10:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007756m [env.py: 870] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:10:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72329947 0.36588025 0.00775592] yaw=154.5deg [env.py: 1019] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82803487 0.55531035 0.00775592] yaw=-173.4deg [env.py: 1019] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68766821 0.2479212 0.00775592] yaw=180.0deg [env.py: 1019] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:10:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.2ms, total=194.3ms [env.py: 1075] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.723, 0.366, 0.008) [env.py: 1079] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.5 deg [env.py: 1082] +05/12 15:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/12 15:10:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:10:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:10:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:10:04 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 15:10:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 15:10:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:10:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:10:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:10:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.959s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:10:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.543[m] 85.946[deg] [grasp_sample.py: 539] +05/12 15:10:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:10:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:10:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:10:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:10:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:10:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:10:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:10:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:10:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:10:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:10:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:10:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:10:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:10:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:10:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:10:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:10:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:10:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:10:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.607s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:10:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.067[m] 4.202[deg] [grasp_sample.py: 539] +05/12 15:10:44 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:10:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:10:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:10:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:10:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:10:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:10:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:10:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:10:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:10:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032350m [env.py: 870] +05/12 15:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:10:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91000389 0.75917729 0.03234971] yaw=-138.2deg [env.py: 1019] +05/12 15:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:10:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=281.8ms, total=281.9ms [env.py: 1075] +05/12 15:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.759, 0.032) [env.py: 1079] +05/12 15:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.2 deg [env.py: 1082] +05/12 15:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/12 15:10:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:10:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:10:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:10:47 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 15:10:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 15:10:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:10:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:10:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:10:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.189s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:10:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.461[m] 100.144[deg] [grasp_sample.py: 539] +05/12 15:10:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:10:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:10:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:10:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:10:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:11:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:11:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:11:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:11:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:11:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:11:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:11:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:11:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:11:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:11:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:11:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:11:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:11:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:11:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:11:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 15:11:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.210s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:11:17 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.257[deg] [grasp_sample.py: 539] +05/12 15:11:19 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:11:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:11:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:11:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:11:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:11:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:11:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:11:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:11:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:11:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050963m [env.py: 870] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:11:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6459302 0.23962982 0.05096343] yaw=138.8deg [env.py: 1019] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 130.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85371937 0.06626272 0.05096343] yaw=162.4deg [env.py: 1019] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68118057 0.84549125 0.05096343] yaw=-177.4deg [env.py: 1019] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:11:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=304.6ms, total=304.7ms [env.py: 1075] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.646, 0.240, 0.051) [env.py: 1079] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 138.8 deg [env.py: 1082] +05/12 15:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m [env.py: 1086] +05/12 15:11:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:11:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:11:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:11:22 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 15:11:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/12 15:11:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:11:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:11:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:11:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.237s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:11:24 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.752[m] 104.253[deg] [grasp_sample.py: 539] +05/12 15:11:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:11:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:11:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:11:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:11:26 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:11:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:11:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:11:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:11:55 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:11:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 15:11:55 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:12:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:12:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:12:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.67s (batch: 4.69s, save: 10.98s) [pipeline.py: 300] +05/12 15:12:11 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.49s: + episode_total: mean=192.38s, total=192.38s, count=1, min=192379.2ms, max=192379.2ms + sensor_polling: mean=444.2ms, total=133.25s, count=300, min=372.0ms, max=901.7ms + save_trajectories: mean=10.98s, total=10.98s, count=1, min=10981.5ms, max=10981.5ms + physics_step: mean=28.2ms, total=8.46s, count=300, min=17.7ms, max=60.4ms + save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4692.8ms, max=4692.8ms + task_sampling: mean=494.8ms, total=494.8ms, count=1, min=494.8ms, max=494.8ms + task_specific_sample: mean=490.9ms, total=490.9ms, count=1, min=490.9ms, max=490.9ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=464.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:12:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:12:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:12:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:12:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:12:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:12:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:12:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:12:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:12:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089058m [env.py: 870] +05/12 15:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:12:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93355148 1.23411602 0.08905846] yaw=-147.5deg [env.py: 1019] +05/12 15:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6678855 0.44073206 0.08905846] yaw=160.6deg [env.py: 1019] +05/12 15:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83686515 0.49621858 0.08905846] yaw=-165.3deg [env.py: 1019] +05/12 15:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:12:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.2ms, total=97.2ms [env.py: 1075] +05/12 15:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 1.234, 0.089) [env.py: 1079] +05/12 15:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.5 deg [env.py: 1082] +05/12 15:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/12 15:12:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:12:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:12:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:12:13 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 15:12:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 15:12:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:12:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:12:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] diff --git a/fridge_m_0.7_pd/chunk_016/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_016/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7500f68ea644c35522d4bc18bc2fe1012891c0b5 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_016/trajectories_batch_1_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version 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