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a/fridge_m_0.7_pd/chunk_011/episode_00000015_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_011/episode_00000015_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ff6123e04ce657a96c869a21812ad1ff8fdbbdc7 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_011/episode_00000015_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d43c93d6fd35788d05d5f0f71341835022f61d14a9f506f7ba2349d8192f09a +size 392495 diff --git a/fridge_m_0.7_pd/chunk_011/running_log.log b/fridge_m_0.7_pd/chunk_011/running_log.log index 48187bd0af4e490c51b99435a28465cf45a99b74..233a779523c7462c7b0bb5ec002b589832ef7c4d 100644 --- a/fridge_m_0.7_pd/chunk_011/running_log.log +++ b/fridge_m_0.7_pd/chunk_011/running_log.log @@ -4810,3 +4810,1576 @@ 05/12 10:26:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] 05/12 10:26:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] 05/12 10:26:40 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:27:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:27:10 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:27:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:27:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:27:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:27:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:27:23 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:27:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:27:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:27:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 17.07s (batch: 4.68s, save: 12.39s) [pipeline.py: 300] +05/12 10:27:28 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.75s: + episode_total: mean=198.42s, total=198.42s, count=1, min=198417.3ms, max=198417.3ms + sensor_polling: mean=447.4ms, total=134.22s, count=300, min=376.0ms, max=962.1ms + save_trajectories: mean=12.39s, total=12.39s, count=1, min=12387.8ms, max=12387.8ms + physics_step: mean=28.4ms, total=8.53s, count=300, min=17.4ms, max=40.8ms + save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4679.9ms, max=4679.9ms + task_sampling: mean=745.7ms, total=745.7ms, count=1, min=745.7ms, max=745.7ms + task_specific_sample: mean=741.3ms, total=741.3ms, count=1, min=741.3ms, max=741.3ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=454.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + 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 10:27:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:27:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:27:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:27:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:27:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:27:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:27:29 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 10:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004733m [env.py: 870] +05/12 10:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:27:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85648514 0.2027786 0.00473323] yaw=199.5deg [env.py: 1019] +05/12 10:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93906522 0.68404882 0.00473323] yaw=-184.7deg [env.py: 1019] +05/12 10:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76101453 0.56437883 0.00473323] yaw=-197.3deg [env.py: 1019] +05/12 10:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:27:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=237.2ms, total=237.3ms [env.py: 1075] +05/12 10:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.856, 0.203, 0.005) [env.py: 1079] +05/12 10:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 199.5 deg [env.py: 1082] +05/12 10:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/12 10:27:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:27:30 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 10:27:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 10:27:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:27:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:27:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:27:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.107s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:27:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.623[m] 94.608[deg] [grasp_sample.py: 539] +05/12 10:27:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:27:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:27:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:27:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:27:52 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:27:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:27:52 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:28:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:28:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:28:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.16s (batch: 4.30s, save: 11.86s) [pipeline.py: 300] +05/12 10:28:09 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.62s: + episode_total: mean=196.58s, total=196.58s, count=1, min=196576.6ms, max=196576.6ms + sensor_polling: mean=460.6ms, total=138.18s, count=300, min=397.9ms, max=904.1ms + save_trajectories: mean=11.86s, total=11.86s, count=1, min=11858.8ms, max=11858.8ms + physics_step: mean=27.5ms, total=8.25s, count=300, min=21.6ms, max=37.6ms + save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4300.1ms, max=4300.1ms + task_sampling: mean=616.0ms, total=616.0ms, count=1, min=616.0ms, max=616.0ms + task_specific_sample: mean=611.3ms, total=611.3ms, count=1, min=611.3ms, max=611.3ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=600.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:28:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:28:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:28:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:28:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:28:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:28:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:28:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:28:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:28:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052598m [env.py: 870] +05/12 10:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:28:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9298221 0.4812231 0.05259812] yaw=141.6deg [env.py: 1019] +05/12 10:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:28:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=555.1ms, total=555.2ms [env.py: 1075] +05/12 10:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.481, 0.053) [env.py: 1079] +05/12 10:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.6 deg [env.py: 1082] +05/12 10:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m [env.py: 1086] +05/12 10:28:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:28:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:28:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:28:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:28:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:28:11 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 10:28:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/12 10:28:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:28:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:28:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:28:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.835s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:28:15 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.500[m] 101.084[deg] [grasp_sample.py: 539] +05/12 10:28:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:28:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:28:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:28:22 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:28:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:28:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:28:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:28:51 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:28:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:28:51 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:28:54 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:29:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:29:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:29:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:29:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.56s (batch: 4.86s, save: 11.70s) [pipeline.py: 300] +05/12 10:29:08 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.50s: + episode_total: mean=214.01s, total=214.01s, count=1, min=214011.0ms, max=214011.0ms + sensor_polling: mean=476.6ms, total=142.99s, count=300, min=407.2ms, max=880.8ms + save_trajectories: mean=11.70s, total=11.70s, count=1, min=11704.8ms, max=11704.8ms + physics_step: mean=29.3ms, total=8.79s, count=300, min=21.7ms, max=56.2ms + save_batch_prep: mean=4.86s, total=4.86s, count=1, min=4857.5ms, max=4857.5ms + task_sampling: mean=497.2ms, total=497.2ms, count=1, min=497.2ms, max=497.2ms + task_specific_sample: mean=492.6ms, total=492.6ms, count=1, min=492.6ms, max=492.6ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=601.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:29:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:29:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:29:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:29:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:29:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:29:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:29:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:29:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:29:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:29:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098414m [env.py: 870] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:29:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9362203 1.03541604 0.09841361] yaw=-116.1deg [env.py: 1019] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 129.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.058782 1.22056578 0.09841361] yaw=-106.5deg [env.py: 1019] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96242851 1.1552763 0.09841361] yaw=-148.5deg [env.py: 1019] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:29:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.3ms, total=164.4ms [env.py: 1075] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.936, 1.035, 0.098) [env.py: 1079] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.1 deg [env.py: 1082] +05/12 10:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/12 10:29:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:29:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:29:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:29:11 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 10:29:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 10:29:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:29:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:29:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:29:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:29:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.466s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:29:16 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.538[m] 86.948[deg] [grasp_sample.py: 539] +05/12 10:29:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:29:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:29:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:29:20 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:29:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:29:20 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/12 10:29:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:29:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:29:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.70s (batch: 3.69s, save: 11.00s) [pipeline.py: 300] +05/12 10:29:35 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.60s: + episode_total: mean=185.97s, total=185.97s, count=1, min=185971.0ms, max=185971.0ms + sensor_polling: mean=450.7ms, total=132.05s, count=293, min=395.2ms, max=1034.2ms + save_trajectories: mean=11.00s, total=11.00s, count=1, min=11003.3ms, max=11003.3ms + physics_step: mean=27.4ms, total=8.02s, count=293, min=21.7ms, max=85.6ms + save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3692.3ms, max=3692.3ms + task_sampling: mean=595.5ms, total=595.5ms, count=1, min=595.5ms, max=595.5ms + task_specific_sample: mean=591.6ms, total=591.6ms, count=1, min=591.6ms, max=591.6ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=457.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:29:37 WARNING: [Worker 0] No trajectory data to save for chunk_011 [pipeline.py: 234] +05/12 10:29:37 WARNING: [Worker 0] No trajectory data to save for chunk_011 [pipeline.py: 234] +05/12 10:29:37 INFO: [Worker 0] Worker 0 completed house 1: 7/8 successful episodes [pipeline.py: 1323] +05/12 10:29:37 INFO: [Worker 0] [PROFILE] House 1 complete: 7/8 successful, 8 episodes, total_time=4103.06s + House averages: + episode_total: mean=127.32s, total=2291.73s, count=18, min=670.2ms, max=214348.0ms + sensor_polling: mean=460.9ms, total=1577.96s, count=3424, min=391.9ms, max=1034.2ms + physics_step: mean=27.3ms, total=93.40s, count=3424, min=16.7ms, max=107.6ms + save_trajectories: mean=11.38s, total=79.63s, count=7, min=11003.3ms, max=12180.5ms + save_batch_prep: mean=4.34s, total=30.36s, count=7, min=3692.3ms, max=4664.8ms + task_sampling: mean=717.3ms, total=12.19s, count=17, min=331.7ms, max=3882.7ms + task_specific_sample: mean=527.2ms, total=9.49s, count=18, min=328.7ms, max=854.1ms + scene_load: mean=3.30s, total=3.30s, count=1, min=3303.8ms, max=3303.8ms + scene_env_create: mean=2.25s, total=2.25s, count=1, min=2246.2ms, max=2246.2ms + scene_compile: mean=876.6ms, total=876.6ms, count=1, min=876.6ms, max=876.6ms + task_sampling_failed: mean=670.1ms, total=670.1ms, count=1, min=670.1ms, max=670.1ms + compile_mujoco: mean=614.0ms, total=614.0ms, count=1, min=614.0ms, max=614.0ms + compile_xml_load: mean=186.7ms, total=186.7ms, count=1, min=186.7ms, max=186.7ms + scene_init: mean=125.8ms, total=125.8ms, count=1, min=125.8ms, max=125.8ms + scene_asset_install: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms + compile_aux_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms + compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + asset_install_grasps: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms + scene_randomize: mean=1.9ms, total=34.3ms, count=18, min=1.2ms, max=3.0ms + asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms + mj_forward_sync: mean=490.1us, total=8.8ms, count=18, min=0.4ms, max=0.6ms + compile_robot_add: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms + asset_install_scene: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms + policy_setup: mean=19.7us, total=0.3ms, count=17, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 10:29:37 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 10:29:37 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=4103.06s + Worker averages: + episode_total: mean=127.32s, total=2291.73s, count=18, min=670.2ms, max=214348.0ms + sensor_polling: mean=460.9ms, total=1577.96s, count=3424, min=391.9ms, max=1034.2ms + physics_step: mean=27.3ms, total=93.40s, count=3424, min=16.7ms, max=107.6ms + save_trajectories: mean=11.38s, total=79.63s, count=7, min=11003.3ms, max=12180.5ms + save_batch_prep: mean=4.34s, total=30.36s, count=7, min=3692.3ms, max=4664.8ms + task_sampling: mean=717.3ms, total=12.19s, count=17, min=331.7ms, max=3882.7ms + task_specific_sample: mean=527.2ms, total=9.49s, count=18, min=328.7ms, max=854.1ms + scene_load: mean=3.30s, total=3.30s, count=1, min=3303.8ms, max=3303.8ms + scene_env_create: mean=2.25s, total=2.25s, count=1, min=2246.2ms, max=2246.2ms + scene_compile: mean=876.6ms, total=876.6ms, count=1, min=876.6ms, max=876.6ms + task_sampling_failed: mean=670.1ms, total=670.1ms, count=1, min=670.1ms, max=670.1ms + compile_mujoco: mean=614.0ms, total=614.0ms, count=1, min=614.0ms, max=614.0ms + compile_xml_load: mean=186.7ms, total=186.7ms, count=1, min=186.7ms, max=186.7ms + scene_init: mean=125.8ms, total=125.8ms, count=1, min=125.8ms, max=125.8ms + scene_asset_install: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms + compile_aux_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms + compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + asset_install_grasps: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms + scene_randomize: mean=1.9ms, total=34.3ms, count=18, min=1.2ms, max=3.0ms + asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms + mj_forward_sync: mean=490.1us, total=8.8ms, count=18, min=0.4ms, max=0.6ms + compile_robot_add: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms + asset_install_scene: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms + policy_setup: mean=19.7us, total=0.3ms, count=17, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 10:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:29:39 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 10:29:39 INFO: Success count: 7, Total count: 8 [pipeline.py: 1491] +05/12 10:29:39 INFO: Success rate: 87.50% [pipeline.py: 1492] +05/12 10:29:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:29:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:29:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:29:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:30:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:30:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:30:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:30:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:30:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:30:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:30:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:30:24 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.710s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:30:24 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.102[m] 0.385[deg] [grasp_sample.py: 539] +05/12 10:30:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:30:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:30:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:30:25 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:30:40 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:30:54 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:30:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:30:54 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:31:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:31:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:31:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.49s (batch: 4.36s, save: 10.14s) [pipeline.py: 300] +05/12 10:31:10 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.55s: + episode_total: mean=220.36s, total=220.36s, count=1, min=220355.6ms, max=220355.6ms + sensor_polling: mean=434.4ms, total=130.31s, count=300, min=374.7ms, max=951.5ms + save_trajectories: mean=10.14s, total=10.14s, count=1, min=10136.3ms, max=10136.3ms + physics_step: mean=26.4ms, total=7.92s, count=300, min=15.5ms, max=90.9ms + save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4358.6ms, max=4358.6ms + task_sampling: mean=554.4ms, total=554.4ms, count=1, min=554.4ms, max=554.4ms + task_specific_sample: mean=549.3ms, total=549.3ms, count=1, min=549.3ms, max=549.3ms + scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + mj_forward_sync: mean=607.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:31:11 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:31:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:31:11 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:31:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:31:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:31:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:31:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:31:11 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 10:31:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:31:11 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 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029130m [env.py: 870] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:31:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84603887 0.3778854 0.02912982] yaw=191.4deg [env.py: 1019] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96070735 1.27871643 0.02912982] yaw=-146.2deg [env.py: 1019] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.99847829 0.85143646 0.02912982] yaw=-183.2deg [env.py: 1019] +05/12 10:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:31:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.5ms, total=214.6ms [env.py: 1075] +05/12 10:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.846, 0.378, 0.029) [env.py: 1079] +05/12 10:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 191.4 deg [env.py: 1082] +05/12 10:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/12 10:31:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:31:12 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 10:31:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 10:31:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:31:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:31:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:31:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.831s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:31:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.459[m] 87.401[deg] [grasp_sample.py: 539] +05/12 10:31:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:31:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:31:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:31:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:31:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:31:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:31:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.52s (batch: 4.37s, save: 11.15s) [pipeline.py: 300] +05/12 10:31:27 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.90s: + episode_total: mean=197.09s, total=197.09s, count=1, min=197088.9ms, max=197088.9ms + sensor_polling: mean=438.6ms, total=131.57s, count=300, min=390.9ms, max=861.4ms + save_trajectories: mean=11.15s, total=11.15s, count=1, min=11145.6ms, max=11145.6ms + physics_step: mean=26.9ms, total=8.06s, count=300, min=20.7ms, max=35.1ms + save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4369.6ms, max=4369.6ms + task_sampling: mean=897.2ms, total=897.2ms, count=1, min=897.2ms, max=897.2ms + task_specific_sample: mean=891.9ms, total=891.9ms, count=1, min=891.9ms, max=891.9ms + scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + mj_forward_sync: mean=602.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:31:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:31:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:31:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:31:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:31:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:31:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:31:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021764m [env.py: 870] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:31:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03433681 0.83445383 0.02176425] yaw=-186.9deg [env.py: 1019] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75738336 0.86570483 0.02176425] yaw=-128.3deg [env.py: 1019] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82942727 0.2305501 0.02176425] yaw=144.3deg [env.py: 1019] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:31:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.0ms, total=186.1ms [env.py: 1075] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.034, 0.834, 0.022) [env.py: 1079] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.9 deg [env.py: 1082] +05/12 10:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.755m [env.py: 1086] +05/12 10:31:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:31:29 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 10:31:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 10:31:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:31:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:31:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:31:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.872s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:31:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.423[m] 82.830[deg] [grasp_sample.py: 539] +05/12 10:31:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:31:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:31:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:31:32 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:31:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:31:59 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:31:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:31:59 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:32:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:32:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:32:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:32:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:32:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:32:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.07s (batch: 4.17s, save: 10.91s) [pipeline.py: 300] +05/12 10:32:15 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.49s: + episode_total: mean=185.21s, total=185.21s, count=1, min=185205.8ms, max=185205.8ms + sensor_polling: mean=417.7ms, total=125.32s, count=300, min=387.4ms, max=838.9ms + save_trajectories: mean=10.91s, total=10.91s, count=1, min=10907.6ms, max=10907.6ms + physics_step: mean=24.4ms, total=7.33s, count=300, min=17.5ms, max=33.7ms + save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4167.3ms, max=4167.3ms + task_sampling: mean=490.4ms, total=490.4ms, count=1, min=490.4ms, max=490.4ms + task_specific_sample: mean=486.0ms, total=486.0ms, count=1, min=486.0ms, max=486.0ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=456.3us, 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 10:32:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:32:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:32:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:32:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:32:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:32:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:32:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:32:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:32:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:32:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027728m [env.py: 870] +05/12 10:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:32:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93368225 1.07966304 0.02772832] yaw=-128.4deg [env.py: 1019] +05/12 10:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77971411 0.95399246 0.02772832] yaw=-149.0deg [env.py: 1019] +05/12 10:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77843848 0.18649902 0.02772832] yaw=170.0deg [env.py: 1019] +05/12 10:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:32:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.5ms, total=172.5ms [env.py: 1075] +05/12 10:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 1.080, 0.028) [env.py: 1079] +05/12 10:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.4 deg [env.py: 1082] +05/12 10:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/12 10:32:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:32:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:32:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:32:17 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 10:32:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 10:32:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:32:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:32:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:32:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:32:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.304s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:32:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.540[m] 85.303[deg] [grasp_sample.py: 539] +05/12 10:32:22 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:32:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:32:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:32:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:32:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:32:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:32:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:32:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:32:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:32:23 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 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031753m [env.py: 870] +05/12 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:32:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69228908 0.38914799 0.03175257] yaw=164.3deg [env.py: 1019] +05/12 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81851036 0.52271205 0.03175257] yaw=-209.8deg [env.py: 1019] +05/12 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96682014 1.04772058 0.03175257] yaw=-175.9deg [env.py: 1019] +05/12 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:32:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.5ms, total=167.6ms [env.py: 1075] +05/12 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.389, 0.032) [env.py: 1079] +05/12 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.3 deg [env.py: 1082] +05/12 10:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m [env.py: 1086] +05/12 10:32:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:32:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:32:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:32:24 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 10:32:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 10:32:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:32:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:32:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:32:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.109s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:32:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.570[m] 90.121[deg] [grasp_sample.py: 539] +05/12 10:32:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:32:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:32:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:32:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:33:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:33:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:33:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:33:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:33:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:33:12 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.696s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:33:12 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.236[deg] [grasp_sample.py: 539] +05/12 10:33:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:33:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:33:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:33:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:33:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:33:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:33:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:33:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:33:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:33:39 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:33:57 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:34:08 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:34:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:34:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:34:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:34:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:34:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.42s (batch: 4.67s, save: 10.75s) [pipeline.py: 300] +05/12 10:34:24 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:34:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:34:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:34:24 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.52s: + episode_total: mean=193.09s, total=193.09s, count=1, min=193085.2ms, max=193085.2ms + sensor_polling: mean=416.4ms, total=124.91s, count=300, min=375.5ms, max=871.3ms + save_trajectories: mean=10.75s, total=10.75s, count=1, min=10748.3ms, max=10748.3ms + physics_step: mean=25.1ms, total=7.52s, count=300, min=20.2ms, max=43.7ms + save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4673.0ms, max=4673.0ms + task_sampling: mean=523.7ms, total=523.7ms, count=1, min=523.7ms, max=523.7ms + task_specific_sample: mean=518.5ms, total=518.5ms, count=1, min=518.5ms, max=518.5ms + scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + mj_forward_sync: mean=608.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=30.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:34:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:34:26 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 10:34:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:34:26 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 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072651m [env.py: 870] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:34:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67474826 0.46201112 0.07265056] yaw=166.2deg [env.py: 1019] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90538625 1.21522393 0.07265056] yaw=-142.3deg [env.py: 1019] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.64943048 0.31612513 0.07265056] yaw=189.0deg [env.py: 1019] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:34:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=335.6ms, total=335.6ms [env.py: 1075] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.675, 0.462, 0.073) [env.py: 1079] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.2 deg [env.py: 1082] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m [env.py: 1086] +05/12 10:34:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:34:26 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 10:34:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/12 10:34:26 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 10:34:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:34:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:34:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.005s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:34:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.579[m] 82.459[deg] [grasp_sample.py: 539] +05/12 10:34:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:34:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:34:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:34:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:34:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:34:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:34:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.39s (batch: 4.44s, save: 10.95s) [pipeline.py: 300] +05/12 10:34:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:40 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.50s: + episode_total: mean=191.90s, total=191.90s, count=1, min=191899.6ms, max=191899.6ms + sensor_polling: mean=451.8ms, total=135.54s, count=300, min=391.9ms, max=867.5ms + save_trajectories: mean=10.95s, total=10.95s, count=1, min=10954.0ms, max=10954.0ms + physics_step: mean=27.0ms, total=8.11s, count=300, min=16.6ms, max=36.2ms + save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4436.5ms, max=4436.5ms + task_sampling: mean=498.4ms, total=498.4ms, count=1, min=498.4ms, max=498.4ms + task_specific_sample: mean=494.4ms, total=494.4ms, count=1, min=494.4ms, max=494.4ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=461.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:34:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:34:42 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 10:34:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:34:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029802m [env.py: 870] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:34:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77018332 0.01232958 0.02980236] yaw=138.0deg [env.py: 1019] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83774673 0.98340907 0.02980236] yaw=-177.5deg [env.py: 1019] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:34:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.8ms, total=230.8ms [env.py: 1075] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.012, 0.030) [env.py: 1079] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 138.0 deg [env.py: 1082] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m [env.py: 1086] +05/12 10:34:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:34:42 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 10:34:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/12 10:34:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:34:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:34:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.056s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:34:47 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.609[m] 90.831[deg] [grasp_sample.py: 539] +05/12 10:34:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:34:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:34:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:34:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:34:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:34:52 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 10:34:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:34:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 10:34:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.624s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:34:52 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.054[m] 1.183[deg] [grasp_sample.py: 539] +05/12 10:34:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:34:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:34:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:34:56 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:35:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:35:23 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:35:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:35:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:35:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:35:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:35:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:35:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:35:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.11s (batch: 4.18s, save: 10.93s) [pipeline.py: 300] +05/12 10:35:39 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.91s: + episode_total: mean=100.39s, total=200.78s, count=2, min=5186.5ms, max=195591.5ms + sensor_polling: mean=421.3ms, total=126.39s, count=300, min=387.1ms, max=782.8ms + save_trajectories: mean=10.93s, total=10.93s, count=1, min=10927.9ms, max=10927.9ms + physics_step: mean=25.0ms, total=7.50s, count=300, min=16.9ms, max=50.8ms + save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4183.9ms, max=4183.9ms + task_sampling: mean=453.1ms, total=906.2ms, count=2, min=430.3ms, max=475.9ms + task_specific_sample: mean=449.4ms, total=898.8ms, count=2, min=427.0ms, max=471.8ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.2ms, max=2.7ms + mj_forward_sync: mean=460.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=15.2us, 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 10:35:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:35:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:35:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:35:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:35:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:35:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:35:40 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 10:35:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:35:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085471m [env.py: 870] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:35:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02021689 0.8850619 0.0854705 ] yaw=-180.8deg [env.py: 1019] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.6417269 0.2073191 0.0854705] yaw=196.2deg [env.py: 1019] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:35:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.0ms, total=221.0ms [env.py: 1075] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.885, 0.085) [env.py: 1079] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.8 deg [env.py: 1082] +05/12 10:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m [env.py: 1086] +05/12 10:35:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:35:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:35:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:35:41 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 10:35:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/12 10:35:41 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 10:35:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:35:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:35:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.956s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:35:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.487[m] 86.456[deg] [grasp_sample.py: 539] +05/12 10:35:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:35:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:35:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:35:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:35:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:36:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:36:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:36:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:36:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:36:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:36:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:36:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:36:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:36:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:36:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:36:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:36:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:36:31 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 10:36:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:36:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 84 non-colliding grasps [grasp_sample.py: 465] +05/12 10:36:31 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.746s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:36:31 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.025[m] 0.588[deg] [grasp_sample.py: 539] +05/12 10:36:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:36:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:36:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:36:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:36:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:36:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:36:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:36:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:36:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:36:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:37:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:37:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:37:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:37:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:37:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:37:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:37:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:37:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:37:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:37:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:37:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:37:11 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.077s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:37:11 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.941[deg] [grasp_sample.py: 539] +05/12 10:37:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:37:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:37:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:37:13 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:37:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:37:16 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 10:37:16 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=False episode_total=0.66s: + episode_total: mean=170.23s, total=170.23s, count=1, min=170234.6ms, max=170234.6ms + sensor_polling: mean=419.4ms, total=125.81s, count=300, min=376.0ms, max=891.6ms + physics_step: mean=24.1ms, total=7.23s, count=300, min=16.4ms, max=32.8ms + task_sampling: mean=655.5ms, total=655.5ms, count=1, min=655.5ms, max=655.5ms + task_specific_sample: mean=651.5ms, total=651.5ms, count=1, min=651.5ms, max=651.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=455.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:37:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:37:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:37:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:37:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:37:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:37:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:37:17 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 10:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098662m [env.py: 870] +05/12 10:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:37:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79946574 1.05643303 0.0986624 ] yaw=-132.5deg [env.py: 1019] +05/12 10:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92322495 0.25577561 0.0986624 ] yaw=165.3deg [env.py: 1019] +05/12 10:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69054297 0.50141036 0.0986624 ] yaw=-175.0deg [env.py: 1019] +05/12 10:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:37:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.5ms, total=164.5ms [env.py: 1075] +05/12 10:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.799, 1.056, 0.099) [env.py: 1079] +05/12 10:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.5 deg [env.py: 1082] +05/12 10:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m [env.py: 1086] +05/12 10:37:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:37:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:37:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:37:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:37:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:37:18 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 10:37:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 10:37:18 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 10:37:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:37:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:37:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.536s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:37:24 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.616[m] 81.326[deg] [grasp_sample.py: 539] +05/12 10:37:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:37:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:37:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:37:38 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:37:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:37:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:37:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:37:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:37:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.83s (batch: 3.77s, save: 10.05s) [pipeline.py: 300] +05/12 10:37:52 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.55s: + episode_total: mean=190.72s, total=190.72s, count=1, min=190722.2ms, max=190722.2ms + sensor_polling: mean=452.4ms, total=135.72s, count=300, min=404.3ms, max=911.2ms + save_trajectories: mean=10.05s, total=10.05s, count=1, min=10054.9ms, max=10054.9ms + physics_step: mean=26.1ms, total=7.83s, count=300, min=21.4ms, max=35.1ms + save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3772.8ms, max=3772.8ms + task_sampling: mean=546.6ms, total=546.6ms, count=1, min=546.6ms, max=546.6ms + task_specific_sample: mean=542.5ms, total=542.5ms, count=1, min=542.5ms, max=542.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=461.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:37:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:37:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:37:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:37:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:37:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:37:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:37:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:37:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:37:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:37:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:37:54 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 10:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023131m [env.py: 870] +05/12 10:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:37:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95138614 0.85885122 0.02313108] yaw=-141.9deg [env.py: 1019] +05/12 10:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87584614 0.7173317 0.02313108] yaw=-202.4deg [env.py: 1019] +05/12 10:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63327338 0.46659102 0.02313108] yaw=204.6deg [env.py: 1019] +05/12 10:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:37:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.3ms, total=87.4ms [env.py: 1075] +05/12 10:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.859, 0.023) [env.py: 1079] +05/12 10:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.9 deg [env.py: 1082] +05/12 10:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/12 10:37:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:37:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:37:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:37:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:37:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:37:54 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 10:37:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/12 10:37:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:37:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:37:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:37:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.932s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:37:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.446[m] 95.804[deg] [grasp_sample.py: 539] +05/12 10:37:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:37:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:37:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:37:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:38:07 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:38:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:38:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:38:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:38:34 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:38:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:38:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:38:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:38:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:38:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:38:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:38:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:38:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.20s (batch: 4.21s, save: 10.99s) [pipeline.py: 300] +05/12 10:38:50 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.54s: + episode_total: mean=189.99s, total=189.99s, count=1, min=189987.0ms, max=189987.0ms + sensor_polling: mean=445.7ms, total=133.72s, count=300, min=400.1ms, max=803.6ms + save_trajectories: mean=10.99s, total=10.99s, count=1, min=10986.7ms, max=10986.7ms + physics_step: mean=27.3ms, total=8.18s, count=300, min=16.8ms, max=90.3ms + save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4214.8ms, max=4214.8ms + task_sampling: mean=544.5ms, total=544.5ms, count=1, min=544.5ms, max=544.5ms + task_specific_sample: mean=539.9ms, total=539.9ms, count=1, min=539.9ms, max=539.9ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=454.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:38:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:38:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:38:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:38:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:38:51 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 10:38:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:38:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081835m [env.py: 870] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:38:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78641495 0.91138229 0.08183536] yaw=-141.3deg [env.py: 1019] +05/12 10:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87511561 1.09300537 0.08183536] yaw=-123.0deg [env.py: 1019] +05/12 10:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67908723 0.30486517 0.08183536] yaw=139.6deg [env.py: 1019] +05/12 10:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:38:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=91.6ms, total=91.7ms [env.py: 1075] +05/12 10:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.911, 0.082) [env.py: 1079] +05/12 10:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.3 deg [env.py: 1082] +05/12 10:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/12 10:38:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:38:52 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 10:38:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/12 10:38:52 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 10:38:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:38:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:38:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.817s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:38:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.562[m] 80.753[deg] [grasp_sample.py: 539] +05/12 10:38:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:38:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:38:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:38:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:39:35 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:39:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:39:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:40:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:03 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:40:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:40:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:40:15 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:40:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:40:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:40:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.43s (batch: 4.01s, save: 10.42s) [pipeline.py: 300] +05/12 10:40:19 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.42s: + episode_total: mean=181.07s, total=181.07s, count=1, min=181068.1ms, max=181068.1ms + sensor_polling: mean=405.1ms, total=121.52s, count=300, min=369.9ms, max=928.3ms + save_trajectories: mean=10.42s, total=10.42s, count=1, min=10415.1ms, max=10415.1ms + physics_step: mean=24.9ms, total=7.48s, count=300, min=21.6ms, max=34.5ms + save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4014.6ms, max=4014.6ms + task_sampling: mean=423.3ms, total=423.3ms, count=1, min=423.3ms, max=423.3ms + task_specific_sample: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=448.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:40:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:40:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:40:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:40:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:40:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:40:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:40:20 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 10:40:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:40:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087838m [env.py: 870] +05/12 10:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:40:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74038868 0.2620954 0.08783751] yaw=134.4deg [env.py: 1019] +05/12 10:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92737636 0.61901149 0.08783751] yaw=-196.2deg [env.py: 1019] +05/12 10:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91317903 0.53534925 0.08783751] yaw=-198.9deg [env.py: 1019] +05/12 10:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:40:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=261.6ms, total=261.7ms [env.py: 1075] +05/12 10:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.740, 0.262, 0.088) [env.py: 1079] +05/12 10:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 134.4 deg [env.py: 1082] +05/12 10:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/12 10:40:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:40:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:40:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:40:21 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 10:40:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 10:40:21 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 10:40:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:40:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:40:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.261s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:40:22 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.651[m] 90.581[deg] [grasp_sample.py: 539] +05/12 10:40:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:40:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:40:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:40:40 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:40:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:40:40 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:40:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:40:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:40:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.74s (batch: 4.11s, save: 10.63s) [pipeline.py: 300] +05/12 10:40:55 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.39s: + episode_total: mean=181.34s, total=181.34s, count=1, min=181341.5ms, max=181341.5ms + sensor_polling: mean=431.1ms, total=129.34s, count=300, min=395.9ms, max=922.8ms + save_trajectories: mean=10.63s, total=10.63s, count=1, min=10633.2ms, max=10633.2ms + physics_step: mean=24.3ms, total=7.29s, count=300, min=21.1ms, max=39.4ms + save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4107.1ms, max=4107.1ms + task_sampling: mean=391.4ms, total=391.4ms, count=1, min=391.4ms, max=391.4ms + task_specific_sample: mean=386.9ms, total=386.9ms, count=1, min=386.9ms, max=386.9ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=649.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + 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 10:40:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:40:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:40:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:40:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:40:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:40:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:40:57 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 10:40:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:40:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031047m [env.py: 870] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:40:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81806915 1.01969615 0.03104727] yaw=-170.9deg [env.py: 1019] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82093141 0.41513567 0.03104727] yaw=204.7deg [env.py: 1019] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.61462425 0.62008581 0.03104727] yaw=-146.2deg [env.py: 1019] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:40:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=495.6ms, total=495.7ms [env.py: 1075] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.818, 1.020, 0.031) [env.py: 1079] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.9 deg [env.py: 1082] +05/12 10:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/12 10:40:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:40:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:40:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:40:57 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 10:40:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 10:40:58 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 10:40:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:40:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.752s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:41:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.654[m] 97.994[deg] [grasp_sample.py: 539] +05/12 10:41:02 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:41:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:41:03 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 10:41:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:41:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030637m [env.py: 870] +05/12 10:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:41:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84052593 0.39970125 0.03063677] yaw=159.7deg [env.py: 1019] +05/12 10:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83666593 0.2979981 0.03063677] yaw=190.4deg [env.py: 1019] +05/12 10:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87609999 0.8145582 0.03063677] yaw=-152.4deg [env.py: 1019] +05/12 10:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:41:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.6ms, total=105.6ms [env.py: 1075] +05/12 10:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.400, 0.031) [env.py: 1079] +05/12 10:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg [env.py: 1082] +05/12 10:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/12 10:41:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:41:03 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 10:41:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 10:41:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.872s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:41:04 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.475[m] 96.053[deg] [grasp_sample.py: 539] +05/12 10:41:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:41:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:41:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:41:05 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 10:41:14 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:41:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:41:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:41:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:41:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:41:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:41:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:41:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:41:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:41:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 84 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:41 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:41:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:41:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:41:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:41:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:41:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:41:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.64s (batch: 4.00s, save: 10.64s) [pipeline.py: 300] +05/12 10:41:56 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.40s: + episode_total: mean=184.65s, total=184.65s, count=1, min=184646.6ms, max=184646.6ms + sensor_polling: mean=429.5ms, total=128.85s, count=300, min=391.2ms, max=855.6ms + save_trajectories: mean=10.64s, total=10.64s, count=1, min=10644.2ms, max=10644.2ms + physics_step: mean=24.5ms, total=7.35s, count=300, min=16.7ms, max=66.3ms + save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3996.5ms, max=3996.5ms + task_sampling: mean=400.7ms, total=400.7ms, count=1, min=400.7ms, max=400.7ms + task_specific_sample: mean=396.3ms, total=396.3ms, count=1, min=396.3ms, max=396.3ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=459.9us, 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 10:41:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:41:57 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 10:41:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:41:57 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 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051417m [env.py: 870] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:41:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8797332 0.4705839 0.05141708] yaw=206.8deg [env.py: 1019] +05/12 10:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96151289 1.29387635 0.05141708] yaw=-163.5deg [env.py: 1019] +05/12 10:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:41:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=442.8ms, total=442.8ms [env.py: 1075] +05/12 10:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.471, 0.051) [env.py: 1079] +05/12 10:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 206.8 deg [env.py: 1082] +05/12 10:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m [env.py: 1086] +05/12 10:41:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:41:58 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 10:41:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 10:41:58 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 10:41:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.106s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:41:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.463[m] 86.135[deg] [grasp_sample.py: 539] +05/12 10:42:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:42:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:42:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:42:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:42:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:42:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:42:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:42:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:43:19 INFO: [Worker 0] Feasibility-checked 84 grasps in 103.866s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:43:19 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 10:43:20 WARNING: [Worker 0] No trajectory data to save for chunk_011 [pipeline.py: 234] +05/12 10:43:20 WARNING: [Worker 0] No trajectory data to save for chunk_011 [pipeline.py: 234] +05/12 10:43:20 INFO: [Worker 0] Worker 0 completed house 1: 13/14 successful episodes [pipeline.py: 1323] +05/12 10:43:20 INFO: [Worker 0] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=5472.88s + House averages: + episode_total: mean=173.11s, total=3116.07s, count=18, min=6642.4ms, max=230273.5ms + sensor_polling: mean=435.7ms, total=2000.14s, count=4591, min=369.7ms, max=985.4ms + save_trajectories: mean=11.14s, total=144.81s, count=13, min=10136.3ms, max=12387.8ms + physics_step: mean=26.9ms, total=123.27s, count=4591, min=15.5ms, max=93.9ms + save_batch_prep: mean=4.46s, total=57.98s, count=13, min=4014.6ms, max=4786.7ms + task_sampling: mean=727.1ms, total=13.09s, count=18, min=377.7ms, max=3864.2ms + task_specific_sample: mean=533.0ms, total=9.59s, count=18, min=373.6ms, max=741.3ms + scene_load: mean=3.42s, total=3.42s, count=1, min=3418.7ms, max=3418.7ms + scene_env_create: mean=2.29s, total=2.29s, count=1, min=2286.1ms, max=2286.1ms + scene_compile: mean=960.4ms, total=960.4ms, count=1, min=960.4ms, max=960.4ms + compile_mujoco: mean=671.9ms, total=671.9ms, count=1, min=671.9ms, max=671.9ms + compile_xml_load: mean=194.5ms, total=194.5ms, count=1, min=194.5ms, max=194.5ms + scene_init: mean=120.1ms, total=120.1ms, count=1, min=120.1ms, max=120.1ms + compile_aux_objects: mean=55.4ms, total=55.4ms, count=1, min=55.4ms, max=55.4ms + compile_aux_policy_objects: mean=55.4ms, total=55.4ms, count=1, min=55.4ms, max=55.4ms + scene_asset_install: mean=51.4ms, total=51.4ms, count=1, min=51.4ms, max=51.4ms + scene_randomize: mean=2.5ms, total=44.9ms, count=18, min=1.3ms, max=3.7ms + asset_install_grasps: mean=37.0ms, total=37.0ms, count=1, min=37.0ms, max=37.0ms + asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms + mj_forward_sync: mean=525.6us, total=9.5ms, count=18, min=0.4ms, max=0.9ms + compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + policy_setup: mean=22.6us, 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 10:43:20 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 10:43:20 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5472.88s + Worker averages: + episode_total: mean=173.11s, total=3116.07s, count=18, min=6642.4ms, max=230273.5ms + sensor_polling: mean=435.7ms, total=2000.14s, count=4591, min=369.7ms, max=985.4ms + save_trajectories: mean=11.14s, total=144.81s, count=13, min=10136.3ms, max=12387.8ms + physics_step: mean=26.9ms, total=123.27s, count=4591, min=15.5ms, max=93.9ms + save_batch_prep: mean=4.46s, total=57.98s, count=13, min=4014.6ms, max=4786.7ms + task_sampling: mean=727.1ms, total=13.09s, count=18, min=377.7ms, max=3864.2ms + task_specific_sample: mean=533.0ms, total=9.59s, count=18, min=373.6ms, max=741.3ms + scene_load: mean=3.42s, total=3.42s, count=1, min=3418.7ms, max=3418.7ms + scene_env_create: mean=2.29s, total=2.29s, count=1, min=2286.1ms, max=2286.1ms + scene_compile: mean=960.4ms, total=960.4ms, count=1, min=960.4ms, max=960.4ms + compile_mujoco: mean=671.9ms, total=671.9ms, count=1, min=671.9ms, max=671.9ms + compile_xml_load: mean=194.5ms, total=194.5ms, count=1, min=194.5ms, max=194.5ms + scene_init: mean=120.1ms, total=120.1ms, count=1, min=120.1ms, max=120.1ms + compile_aux_objects: mean=55.4ms, total=55.4ms, count=1, min=55.4ms, max=55.4ms + compile_aux_policy_objects: mean=55.4ms, total=55.4ms, count=1, min=55.4ms, max=55.4ms + scene_asset_install: mean=51.4ms, total=51.4ms, count=1, min=51.4ms, max=51.4ms + scene_randomize: mean=2.5ms, total=44.9ms, count=18, min=1.3ms, max=3.7ms + asset_install_grasps: mean=37.0ms, total=37.0ms, count=1, min=37.0ms, max=37.0ms + asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms + mj_forward_sync: mean=525.6us, total=9.5ms, count=18, min=0.4ms, max=0.9ms + compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + policy_setup: mean=22.6us, 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 10:43:23 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 10:43:23 INFO: Success count: 13, Total count: 14 [pipeline.py: 1491] +05/12 10:43:23 INFO: Success rate: 92.86% [pipeline.py: 1492] +05/12 10:43:43 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:43:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:43:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:43:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:43:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:43:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:43:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:43:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:43:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:43:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:43:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:43:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:43:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:43:57 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.821s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:43:57 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.376[deg] [grasp_sample.py: 539] +05/12 10:43:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:43:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:43:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:44:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:44:08 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:44:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:44:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:44:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:44:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:44:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:44:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:44:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.83s (batch: 3.88s, save: 9.95s) [pipeline.py: 300] +05/12 10:44:22 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.19s: + episode_total: mean=102.14s, total=204.28s, count=2, min=5098.1ms, max=199181.5ms + sensor_polling: mean=427.2ms, total=128.16s, count=300, min=399.5ms, max=959.4ms + save_trajectories: mean=9.95s, total=9.95s, count=1, min=9950.4ms, max=9950.4ms + physics_step: mean=23.9ms, total=7.16s, count=300, min=17.1ms, max=31.4ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3880.8ms, max=3880.8ms + task_sampling: mean=592.8ms, total=1.19s, count=2, min=368.2ms, max=817.5ms + task_specific_sample: mean=588.4ms, total=1.18s, count=2, min=364.1ms, max=812.7ms + scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=1.9ms, max=3.0ms + mj_forward_sync: mean=552.6us, total=1.1ms, count=2, min=0.5ms, max=0.7ms + 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 10:44:24 WARNING: [Worker 0] No trajectory data to save for chunk_011 [pipeline.py: 234] +05/12 10:44:24 WARNING: [Worker 0] No trajectory data to save for chunk_011 [pipeline.py: 234] +05/12 10:44:24 INFO: [Worker 0] Worker 0 completed house 1: 15/15 successful episodes [pipeline.py: 1323] +05/12 10:44:24 INFO: [Worker 0] [PROFILE] House 1 complete: 15/15 successful, 15 episodes, total_time=5638.16s + House averages: + episode_total: mean=176.73s, total=3181.22s, count=18, min=3140.4ms, max=230157.1ms + sensor_polling: mean=449.7ms, total=2076.23s, count=4617, min=389.4ms, max=959.4ms + save_trajectories: mean=10.92s, total=163.83s, count=15, min=9950.4ms, max=12360.8ms + physics_step: mean=26.3ms, total=121.60s, count=4617, min=15.3ms, max=118.2ms + save_batch_prep: mean=4.25s, total=63.82s, count=15, min=3748.6ms, max=4774.1ms + task_sampling: mean=752.7ms, total=13.55s, count=18, min=368.2ms, max=4142.8ms + task_specific_sample: mean=562.6ms, total=10.13s, count=18, min=364.1ms, max=891.9ms + scene_load: mean=3.34s, total=3.34s, count=1, min=3339.6ms, max=3339.6ms + scene_env_create: mean=2.22s, total=2.22s, count=1, min=2222.2ms, max=2222.2ms + scene_compile: mean=922.3ms, total=922.3ms, count=1, min=922.3ms, max=922.3ms + compile_mujoco: mean=647.5ms, total=647.5ms, count=1, min=647.5ms, max=647.5ms + compile_xml_load: mean=185.8ms, total=185.8ms, count=1, min=185.8ms, max=185.8ms + scene_init: mean=120.9ms, total=120.9ms, count=1, min=120.9ms, max=120.9ms + scene_asset_install: mean=73.5ms, total=73.5ms, count=1, min=73.5ms, max=73.5ms + compile_aux_objects: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms + compile_aux_policy_objects: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms + asset_install_grasps: mean=58.5ms, total=58.5ms, count=1, min=58.5ms, max=58.5ms + scene_randomize: mean=2.8ms, total=49.5ms, count=18, min=1.4ms, max=3.5ms + compile_robot_add: mean=16.3ms, total=16.3ms, count=1, min=16.3ms, max=16.3ms + asset_install_objects: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms + mj_forward_sync: mean=533.2us, total=9.6ms, count=18, min=0.5ms, max=0.7ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=25.2us, total=0.5ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 10:44:24 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 10:44:24 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5638.16s + Worker averages: + episode_total: mean=176.73s, total=3181.22s, count=18, min=3140.4ms, max=230157.1ms + sensor_polling: mean=449.7ms, total=2076.23s, count=4617, min=389.4ms, max=959.4ms + save_trajectories: mean=10.92s, total=163.83s, count=15, min=9950.4ms, max=12360.8ms + physics_step: mean=26.3ms, total=121.60s, count=4617, min=15.3ms, max=118.2ms + save_batch_prep: mean=4.25s, total=63.82s, count=15, min=3748.6ms, max=4774.1ms + task_sampling: mean=752.7ms, total=13.55s, count=18, min=368.2ms, max=4142.8ms + task_specific_sample: mean=562.6ms, total=10.13s, count=18, min=364.1ms, max=891.9ms + scene_load: mean=3.34s, total=3.34s, count=1, min=3339.6ms, max=3339.6ms + scene_env_create: mean=2.22s, total=2.22s, count=1, min=2222.2ms, max=2222.2ms + scene_compile: mean=922.3ms, total=922.3ms, count=1, min=922.3ms, max=922.3ms + compile_mujoco: mean=647.5ms, total=647.5ms, count=1, min=647.5ms, max=647.5ms + compile_xml_load: mean=185.8ms, total=185.8ms, count=1, min=185.8ms, max=185.8ms + scene_init: mean=120.9ms, total=120.9ms, count=1, min=120.9ms, max=120.9ms + scene_asset_install: mean=73.5ms, total=73.5ms, count=1, min=73.5ms, max=73.5ms + compile_aux_objects: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms + compile_aux_policy_objects: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms + asset_install_grasps: mean=58.5ms, total=58.5ms, count=1, min=58.5ms, max=58.5ms + scene_randomize: mean=2.8ms, total=49.5ms, count=18, min=1.4ms, max=3.5ms + compile_robot_add: mean=16.3ms, total=16.3ms, count=1, min=16.3ms, max=16.3ms + asset_install_objects: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms + mj_forward_sync: mean=533.2us, total=9.6ms, count=18, min=0.5ms, max=0.7ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=25.2us, total=0.5ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 10:44:26 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 10:44:26 INFO: Success count: 15, Total count: 15 [pipeline.py: 1491] +05/12 10:44:26 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/12 10:44:30 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:44:57 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 10:44:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:44:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:45:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:45:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 10:45:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.07s (batch: 4.26s, save: 10.81s) [pipeline.py: 300] +05/12 10:45:13 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.76s: + episode_total: mean=195.13s, total=195.13s, count=1, min=195131.0ms, max=195131.0ms + sensor_polling: mean=427.4ms, total=128.21s, count=300, min=386.6ms, max=815.6ms + save_trajectories: mean=10.81s, total=10.81s, count=1, min=10806.3ms, max=10806.3ms + physics_step: mean=23.5ms, total=7.04s, count=300, min=15.7ms, max=33.5ms + save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4263.8ms, max=4263.8ms + task_sampling: mean=761.2ms, total=761.2ms, count=1, min=761.2ms, max=761.2ms + task_specific_sample: mean=756.7ms, total=756.7ms, count=1, min=756.7ms, max=756.7ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=472.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + 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 10:45:14 WARNING: [Worker 0] No trajectory data to save for chunk_011 [pipeline.py: 234] +05/12 10:45:14 WARNING: [Worker 0] No trajectory data to save for chunk_011 [pipeline.py: 234] +05/12 10:45:14 INFO: [Worker 0] Worker 0 completed house 1: 16/16 successful episodes [pipeline.py: 1323] +05/12 10:45:14 INFO: [Worker 0] [PROFILE] House 1 complete: 16/16 successful, 16 episodes, total_time=5790.19s + House averages: + episode_total: mean=179.62s, total=3233.25s, count=18, min=3704.0ms, max=247753.8ms + sensor_polling: mean=447.3ms, total=2144.10s, count=4793, min=386.6ms, max=917.1ms + save_trajectories: mean=11.39s, total=182.31s, count=16, min=10644.2ms, max=12811.3ms + physics_step: mean=26.5ms, total=126.87s, count=4793, min=15.5ms, max=105.1ms + save_batch_prep: mean=4.45s, total=71.12s, count=16, min=3975.4ms, max=4967.0ms + task_sampling: mean=766.9ms, total=13.80s, count=18, min=400.7ms, max=4386.3ms + task_specific_sample: mean=559.4ms, total=10.07s, count=18, min=396.3ms, max=1003.3ms + scene_load: mean=3.66s, total=3.66s, count=1, min=3656.6ms, max=3656.6ms + scene_env_create: mean=2.29s, total=2.29s, count=1, min=2287.7ms, max=2287.7ms + scene_compile: mean=1.19s, total=1.19s, count=1, min=1190.2ms, max=1190.2ms + compile_mujoco: mean=683.3ms, total=683.3ms, count=1, min=683.3ms, max=683.3ms + compile_xml_load: mean=422.1ms, total=422.1ms, count=1, min=422.1ms, max=422.1ms + scene_init: mean=122.0ms, total=122.0ms, count=1, min=122.0ms, max=122.0ms + scene_asset_install: mean=56.4ms, total=56.4ms, count=1, min=56.4ms, max=56.4ms + compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + scene_randomize: mean=2.7ms, total=49.3ms, count=18, min=1.2ms, max=3.3ms + asset_install_grasps: mean=39.4ms, total=39.4ms, count=1, min=39.4ms, max=39.4ms + compile_robot_add: mean=20.6ms, total=20.6ms, count=1, min=20.6ms, max=20.6ms + asset_install_objects: mean=13.0ms, total=13.0ms, count=1, min=13.0ms, max=13.0ms + mj_forward_sync: mean=501.0us, total=9.0ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + policy_setup: mean=29.8us, 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 10:45:14 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 10:45:14 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=5790.19s + Worker averages: + episode_total: mean=179.62s, total=3233.25s, count=18, min=3704.0ms, max=247753.8ms + sensor_polling: mean=447.3ms, total=2144.10s, count=4793, min=386.6ms, max=917.1ms + save_trajectories: mean=11.39s, total=182.31s, count=16, min=10644.2ms, max=12811.3ms + physics_step: mean=26.5ms, total=126.87s, count=4793, min=15.5ms, max=105.1ms + save_batch_prep: mean=4.45s, total=71.12s, count=16, min=3975.4ms, max=4967.0ms + task_sampling: mean=766.9ms, total=13.80s, count=18, min=400.7ms, max=4386.3ms + task_specific_sample: mean=559.4ms, total=10.07s, count=18, min=396.3ms, max=1003.3ms + scene_load: mean=3.66s, total=3.66s, count=1, min=3656.6ms, max=3656.6ms + scene_env_create: mean=2.29s, total=2.29s, count=1, min=2287.7ms, max=2287.7ms + scene_compile: mean=1.19s, total=1.19s, count=1, min=1190.2ms, max=1190.2ms + compile_mujoco: mean=683.3ms, total=683.3ms, count=1, min=683.3ms, max=683.3ms + compile_xml_load: mean=422.1ms, total=422.1ms, count=1, min=422.1ms, max=422.1ms + scene_init: mean=122.0ms, total=122.0ms, count=1, min=122.0ms, max=122.0ms + scene_asset_install: mean=56.4ms, total=56.4ms, count=1, min=56.4ms, max=56.4ms + compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + scene_randomize: mean=2.7ms, total=49.3ms, count=18, min=1.2ms, max=3.3ms + asset_install_grasps: mean=39.4ms, total=39.4ms, count=1, min=39.4ms, max=39.4ms + compile_robot_add: mean=20.6ms, total=20.6ms, count=1, min=20.6ms, max=20.6ms + asset_install_objects: mean=13.0ms, total=13.0ms, count=1, min=13.0ms, max=13.0ms + mj_forward_sync: mean=501.0us, total=9.0ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + policy_setup: mean=29.8us, 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 10:45:17 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 10:45:17 INFO: Success count: 16, Total count: 16 [pipeline.py: 1491] +05/12 10:45:17 INFO: 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https://git-lfs.github.com/spec/v1 +oid sha256:d6b7845b81d23fb39c70f579446669409d0f4591372e299f0466e430fc0afd8d +size 8153 diff --git a/fridge_m_0.7_pd/chunk_012/running_log.log b/fridge_m_0.7_pd/chunk_012/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..ceb7c1bedebd989aaaec92a4bb38021c06830ee7 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_012/running_log.log @@ -0,0 +1,4950 @@ +05/12 10:46:35 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 10:46:35 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 10:46:35 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 10:46:35 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_012'), + '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': 51204, + '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 10:46:35 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 10:46:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 10:46:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 10:46:35 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 10:46:35 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 10:46:35 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 10:46:35 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_012'), + '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': 51203, + '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 10:46:35 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 10:46:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 10:46:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 10:46:35 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 10:46:35 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 10:46:35 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 10:46:35 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_012'), + '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': 51202, + '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 10:46:35 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 10:46:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 10:46:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 10:46:36 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 10:46:36 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 10:46:36 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 10:46:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 10:46:38 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 10:46:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 10:46:38 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 10:46:38 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 10:46:38 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 10:46:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:46:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:46:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:46:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:46:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:46:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:46:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:46:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:46:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:46:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039610m [env.py: 870] +05/12 10:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:46:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 10:46:38 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 10:46:38 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 10:46:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:46:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:46:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:46:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:46:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:46:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:46:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:46:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:46:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:46:38 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 10:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076298m [env.py: 870] +05/12 10:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:46:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 10:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88325373 0.73532712 0.03960995] yaw=-171.2deg [env.py: 1019] +05/12 10:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:46:39 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 10:46:39 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 10:46:39 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:46:39 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012'), + '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': 51201, + '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 10:46:39 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 10:46:39 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 10:46:39 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9107491 0.04991423 0.03960995] yaw=149.9deg [env.py: 1019] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.08632374 1.08269698 0.03960995] yaw=-149.4deg [env.py: 1019] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:46:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=21.0ms, retries=260.5ms, total=281.5ms [env.py: 1075] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.883, 0.735, 0.040) [env.py: 1079] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.2 deg [env.py: 1082] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/12 10:46:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:46:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:46:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:46:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86870735 0.86233819 0.07629845] yaw=-161.7deg [env.py: 1019] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95193504 1.16686981 0.07629845] yaw=-170.8deg [env.py: 1019] +05/12 10:46:39 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:46:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:46:39 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.05758382 0.99719193 0.07629845] yaw=-178.2deg [env.py: 1019] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:46:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=27.2ms, retries=703.4ms, total=730.5ms [env.py: 1075] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.862, 0.076) [env.py: 1079] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg [env.py: 1082] +05/12 10:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/12 10:46:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:46:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:46:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:46:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:46:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:46:40 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 10:46:42 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 10:46:42 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 10:46:42 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 10:46:42 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 10:46:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:46:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:46:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:46:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:46:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:46:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:46:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:46:42 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 10:46:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:46:42 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 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001126m [env.py: 870] +05/12 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:46:42 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 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82167977 0.34367421 0.00112554] yaw=210.8deg [env.py: 1019] +05/12 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81983683 0.28140075 0.00112554] yaw=158.9deg [env.py: 1019] +05/12 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93217192 0.65938282 0.00112554] yaw=-199.5deg [env.py: 1019] +05/12 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:46:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=21.7ms, retries=137.9ms, total=159.5ms [env.py: 1075] +05/12 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.344, 0.001) [env.py: 1079] +05/12 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 210.8 deg [env.py: 1082] +05/12 10:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/12 10:46:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:46:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:46:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:46:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:46:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:46:42 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 10:46:43 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 10:46:43 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 10:46:43 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 10:46:43 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 10:46:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:46:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:46:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:46:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:46:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:46:43 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 10:46:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:46:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082581m [env.py: 870] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:46:43 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 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78727102 0.83975425 0.08258051] yaw=-147.1deg [env.py: 1019] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92764542 0.13861573 0.08258051] yaw=188.9deg [env.py: 1019] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79823817 1.07238332 0.08258051] yaw=-139.2deg [env.py: 1019] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:46:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=21.1ms, retries=222.0ms, total=243.1ms [env.py: 1075] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.787, 0.840, 0.083) [env.py: 1079] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.1 deg [env.py: 1082] +05/12 10:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/12 10:46:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:46:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:46:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:46:44 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 10:47:14 INFO: [Worker 0] Warmed up parallel IK solver in 34.762s [base_object_manipulation_planner_policy.py: 377] +05/12 10:47:14 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 10:47:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:47:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:47:15 INFO: [Worker 0] Warmed up parallel IK solver in 35.967s [base_object_manipulation_planner_policy.py: 377] +05/12 10:47:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:47:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:47:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:47:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.959s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:47:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.466[m] 79.178[deg] [grasp_sample.py: 539] +05/12 10:47:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:47:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:47:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:47:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.911s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:47:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.466[m] 94.769[deg] [grasp_sample.py: 539] +05/12 10:47:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:47:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:47:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:47:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:47:18 INFO: [Worker 0] Warmed up parallel IK solver in 35.567s [base_object_manipulation_planner_policy.py: 377] +05/12 10:47:18 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 10:47:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:47:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:47:20 INFO: [Worker 0] Warmed up parallel IK solver in 36.143s [base_object_manipulation_planner_policy.py: 377] +05/12 10:47:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:47:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:47:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:47:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.900s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:47:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.558[m] 83.892[deg] [grasp_sample.py: 539] +05/12 10:47:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:47:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:47:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:47:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.698s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:47:22 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.624[m] 89.264[deg] [grasp_sample.py: 539] +05/12 10:47:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:47:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:47:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:47:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:47:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:48:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:48:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:48:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:48:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:48:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:48:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:48:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:48:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:48:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:48:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:48:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:48:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:48:43 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:48:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:48:43 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 10:48:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:48:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 84 non-colliding grasps [grasp_sample.py: 465] +05/12 10:48:44 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.644s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:48:44 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.117[m] 0.610[deg] [grasp_sample.py: 539] +05/12 10:48:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:48:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:48:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:48:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:49:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:49:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:49:36 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:49:45 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:49:49 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:49:52 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 10:49:52 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=3.54s: + episode_total: mean=193.30s, total=193.30s, count=1, min=193305.0ms, max=193305.0ms + sensor_polling: mean=462.2ms, total=138.66s, count=300, min=389.8ms, max=718.9ms + physics_step: mean=26.6ms, total=7.98s, count=300, min=17.5ms, max=40.1ms + task_sampling: mean=3.54s, total=3.54s, count=1, min=3540.5ms, max=3540.5ms + scene_load: mean=3.03s, total=3.03s, count=1, min=3032.7ms, max=3032.7ms + scene_env_create: mean=1.72s, total=1.72s, count=1, min=1723.8ms, max=1723.8ms + scene_compile: mean=1.02s, total=1.02s, count=1, min=1015.1ms, max=1015.1ms + compile_mujoco: mean=729.8ms, total=729.8ms, count=1, min=729.8ms, max=729.8ms + task_specific_sample: mean=501.8ms, total=501.8ms, count=1, min=501.8ms, max=501.8ms + compile_xml_load: mean=185.1ms, total=185.1ms, count=1, min=185.1ms, max=185.1ms + scene_asset_install: mean=172.6ms, total=172.6ms, count=1, min=172.6ms, max=172.6ms + scene_init: mean=120.8ms, total=120.8ms, count=1, min=120.8ms, max=120.8ms + asset_install_grasps: mean=97.3ms, total=97.3ms, count=1, min=97.3ms, max=97.3ms + compile_aux_objects: mean=77.6ms, total=77.6ms, count=1, min=77.6ms, max=77.6ms + compile_aux_policy_objects: mean=77.6ms, total=77.6ms, count=1, min=77.6ms, max=77.6ms + asset_install_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms + asset_install_scene: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + compile_robot_add: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=451.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=73.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 10:49:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:49:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:49:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:49:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:49:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:49:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:49:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:49:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:49:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094244m [env.py: 870] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:49:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65022345 0.26673601 0.09424445] yaw=158.5deg [env.py: 1019] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98491545 1.08396703 0.09424445] yaw=-127.6deg [env.py: 1019] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.63175783 0.59748773 0.09424445] yaw=-163.3deg [env.py: 1019] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:49:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=180.3ms, total=180.4ms [env.py: 1075] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.650, 0.267, 0.094) [env.py: 1079] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg [env.py: 1082] +05/12 10:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/12 10:49:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:49:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:49:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:49:54 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 10:49:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s [base_object_manipulation_planner_policy.py: 377] +05/12 10:49:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:49:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:49:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:49:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.118s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:49:56 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.694[m] 103.552[deg] [grasp_sample.py: 539] +05/12 10:49:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:49:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:49:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:49:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:50:05 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 10:50:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:50:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:50:13 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 10:50:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:50:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:50:16 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 10:50:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:50:16 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:50:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:50:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 10:50:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.91s (batch: 4.41s, save: 12.50s) [pipeline.py: 300] +05/12 10:50:23 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=8.67s: + episode_total: mean=227.53s, total=227.53s, count=1, min=227532.7ms, max=227532.7ms + sensor_polling: mean=414.8ms, total=124.45s, count=300, min=369.9ms, max=698.8ms + save_trajectories: mean=12.50s, total=12.50s, count=1, min=12500.4ms, max=12500.4ms + task_sampling: mean=8.67s, total=8.67s, count=1, min=8670.7ms, max=8670.7ms + scene_load: mean=8.12s, total=8.12s, count=1, min=8124.4ms, max=8124.4ms + physics_step: mean=26.3ms, total=7.88s, count=300, min=21.4ms, max=34.3ms + scene_compile: mean=6.16s, total=6.16s, count=1, min=6163.1ms, max=6163.1ms + compile_mujoco: mean=5.64s, total=5.64s, count=1, min=5643.4ms, max=5643.4ms + save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4406.9ms, max=4406.9ms + scene_env_create: mean=1.79s, total=1.79s, count=1, min=1787.2ms, max=1787.2ms + task_specific_sample: mean=540.9ms, total=540.9ms, count=1, min=540.9ms, max=540.9ms + compile_xml_load: mean=428.8ms, total=428.8ms, count=1, min=428.8ms, max=428.8ms + scene_init: mean=116.6ms, total=116.6ms, count=1, min=116.6ms, max=116.6ms + scene_asset_install: mean=57.1ms, total=57.1ms, count=1, min=57.1ms, max=57.1ms + compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + asset_install_grasps: mean=36.2ms, total=36.2ms, count=1, min=36.2ms, max=36.2ms + compile_robot_add: mean=26.3ms, total=26.3ms, count=1, min=26.3ms, max=26.3ms + asset_install_objects: mean=11.9ms, total=11.9ms, count=1, min=11.9ms, max=11.9ms + asset_install_scene: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=452.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=51.4us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 10:50:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:50:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:50:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:50:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:50:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:50:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:50:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:50:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:50:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022166m [env.py: 870] +05/12 10:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:50:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04379044 0.86378546 0.02216605] yaw=-184.7deg [env.py: 1019] +05/12 10:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:50:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=341.0ms, total=341.1ms [env.py: 1075] +05/12 10:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.044, 0.864, 0.022) [env.py: 1079] +05/12 10:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -184.7 deg [env.py: 1082] +05/12 10:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.761m [env.py: 1086] +05/12 10:50:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:50:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:50:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:50:25 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 10:50:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/12 10:50:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:50:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:50:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:50:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.823s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:50:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.479[m] 93.726[deg] [grasp_sample.py: 539] +05/12 10:50:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:50:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:50:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:50:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:50:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 10:50:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.36s (batch: 4.55s, save: 11.81s) [pipeline.py: 300] +05/12 10:50:31 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.88s: + episode_total: mean=235.36s, total=235.36s, count=1, min=235364.6ms, max=235364.6ms + sensor_polling: mean=457.1ms, total=137.12s, count=300, min=404.6ms, max=748.2ms + save_trajectories: mean=11.81s, total=11.81s, count=1, min=11806.3ms, max=11806.3ms + physics_step: mean=28.0ms, total=8.39s, count=300, min=17.7ms, max=37.7ms + save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4553.7ms, max=4553.7ms + task_sampling: mean=3.88s, total=3.88s, count=1, min=3883.4ms, max=3883.4ms + scene_load: mean=3.18s, total=3.18s, count=1, min=3184.0ms, max=3184.0ms + scene_env_create: mean=2.02s, total=2.02s, count=1, min=2024.0ms, max=2024.0ms + scene_compile: mean=991.4ms, total=991.4ms, count=1, min=991.4ms, max=991.4ms + compile_mujoco: mean=706.9ms, total=706.9ms, count=1, min=706.9ms, max=706.9ms + task_specific_sample: mean=696.5ms, total=696.5ms, count=1, min=696.5ms, max=696.5ms + compile_xml_load: mean=191.4ms, total=191.4ms, count=1, min=191.4ms, max=191.4ms + scene_init: mean=117.0ms, total=117.0ms, count=1, min=117.0ms, max=117.0ms + compile_aux_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms + compile_aux_policy_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms + scene_asset_install: mean=51.1ms, total=51.1ms, count=1, min=51.1ms, max=51.1ms + asset_install_grasps: mean=36.8ms, total=36.8ms, count=1, min=36.8ms, max=36.8ms + compile_robot_add: mean=26.2ms, total=26.2ms, count=1, min=26.2ms, max=26.2ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=445.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=55.4us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 10:50:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:50:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 10:50:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.97s (batch: 3.75s, save: 11.22s) [pipeline.py: 300] +05/12 10:50:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:50:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:50:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:50:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:50:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:50:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:50:32 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 10:50:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:50:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048944m [env.py: 870] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:50:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87814108 0.56293238 0.04894401] yaw=-146.6deg [env.py: 1019] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72752437 0.84127148 0.04894401] yaw=-171.3deg [env.py: 1019] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82059738 0.08995252 0.04894401] yaw=120.0deg [env.py: 1019] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:50:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.2ms, total=140.2ms [env.py: 1075] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.878, 0.563, 0.049) [env.py: 1079] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.6 deg [env.py: 1082] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/12 10:50:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:50:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:50:32 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.48s: + episode_total: mean=237.22s, total=237.22s, count=1, min=237215.6ms, max=237215.6ms + sensor_polling: mean=474.8ms, total=142.44s, count=300, min=402.7ms, max=724.9ms + save_trajectories: mean=11.22s, total=11.22s, count=1, min=11223.6ms, max=11223.6ms + physics_step: mean=27.1ms, total=8.14s, count=300, min=17.9ms, max=36.3ms + task_sampling: mean=4.48s, total=4.48s, count=1, min=4482.1ms, max=4482.1ms + save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3747.0ms, max=3747.0ms + scene_load: mean=3.36s, total=3.36s, count=1, min=3355.6ms, max=3355.6ms + scene_env_create: mean=1.97s, total=1.97s, count=1, min=1970.6ms, max=1970.6ms + scene_compile: mean=1.21s, total=1.21s, count=1, min=1214.4ms, max=1214.4ms + task_specific_sample: mean=1.12s, total=1.12s, count=1, min=1123.2ms, max=1123.2ms + compile_mujoco: mean=798.8ms, total=798.8ms, count=1, min=798.8ms, max=798.8ms + compile_xml_load: mean=324.2ms, total=324.2ms, count=1, min=324.2ms, max=324.2ms + scene_init: mean=119.3ms, total=119.3ms, count=1, min=119.3ms, max=119.3ms + compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + scene_asset_install: mean=50.8ms, total=50.8ms, count=1, min=50.8ms, max=50.8ms + asset_install_grasps: mean=36.4ms, total=36.4ms, count=1, min=36.4ms, max=36.4ms + compile_robot_add: mean=26.1ms, total=26.1ms, count=1, min=26.1ms, max=26.1ms + asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms + mj_forward_sync: mean=606.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=54.6us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 10:50:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:50:32 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 10:50:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/12 10:50:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:50:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:50:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:50:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.023s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:50:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.477[m] 88.661[deg] [grasp_sample.py: 539] +05/12 10:50:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:50:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:50:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:50:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:50:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:50:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:50:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:50:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:50:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:50:34 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 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065182m [env.py: 870] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:50:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:50:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:50:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87879283 0.34639209 0.06518189] yaw=145.5deg [env.py: 1019] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.94293655 0.09773144 0.06518189] yaw=159.1deg [env.py: 1019] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00457376 1.25599628 0.06518189] yaw=-122.1deg [env.py: 1019] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:50:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.1ms, total=197.1ms [env.py: 1075] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.879, 0.346, 0.065) [env.py: 1079] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.5 deg [env.py: 1082] +05/12 10:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/12 10:50:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:50:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:50:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:50:35 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 10:50:35 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 10:50:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 10:50:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:50:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:50:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:50:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.915s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:50:36 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.469[m] 95.792[deg] [grasp_sample.py: 539] +05/12 10:50:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:50:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:50:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:50:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:51:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:51:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:51:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:51:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:51:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:51:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:51:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:51:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:51:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:51:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:51:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:51:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:51:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:51:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:51:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:51:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:51:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:51:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:51:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:51:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:51:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:51:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:51:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:51:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:51:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 10:51:45 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.763s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:51:45 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.029[m] 0.372[deg] [grasp_sample.py: 539] +05/12 10:51:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:51:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:51:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:51:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:51:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:52:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:52:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:52:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:52:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:52:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:52:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:52:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:52:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:52:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:52:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:52:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:52:21 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 10:52:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:52:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:52:23 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.007s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:52:23 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.810[deg] [grasp_sample.py: 539] +05/12 10:52:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:52:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:52:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:52:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:52:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:52:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:52:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:52:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:52:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:52:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:52:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:52:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:52:38 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:52:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:52:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:52:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:52:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:52:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:52:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:52:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 10:52:40 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.745s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:52:40 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.188[deg] [grasp_sample.py: 539] +05/12 10:52:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:52:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:52:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:52:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:52:44 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 10:52:44 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=0.43s: + episode_total: mean=169.99s, total=169.99s, count=1, min=169991.9ms, max=169991.9ms + sensor_polling: mean=442.3ms, total=132.69s, count=300, min=393.2ms, max=983.5ms + physics_step: mean=24.0ms, total=7.21s, count=300, min=15.3ms, max=35.4ms + task_sampling: mean=433.3ms, total=433.3ms, count=1, min=433.3ms, max=433.3ms + task_specific_sample: mean=430.5ms, total=430.5ms, count=1, min=430.5ms, max=430.5ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=447.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:52:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:52:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:52:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:52:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:52:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:52:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:52:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:52:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095720m [env.py: 870] +05/12 10:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:52:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14753698 1.03062338 0.09571986] yaw=-134.0deg [env.py: 1019] +05/12 10:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8313074 0.02765812 0.09571986] yaw=185.1deg [env.py: 1019] +05/12 10:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97667547 0.23276889 0.09571986] yaw=179.4deg [env.py: 1019] +05/12 10:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:52:47 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 10:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.148, 1.031, 0.096) [env.py: 1079] +05/12 10:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.0 deg [env.py: 1082] +05/12 10:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m [env.py: 1086] +05/12 10:52:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:52:47 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 10:52:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/12 10:52:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:52:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:52:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:52:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.143s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:52:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.358[m] 94.474[deg] [grasp_sample.py: 539] +05/12 10:52:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:52:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:52:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:52:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:52:57 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:52:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:53:06 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 10:53:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:53:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:53:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:53:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:53:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 10:53:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.28s (batch: 4.43s, save: 11.84s) [pipeline.py: 300] +05/12 10:53:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:23 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.61s: + episode_total: mean=179.41s, total=179.41s, count=1, min=179413.3ms, max=179413.3ms + sensor_polling: mean=404.9ms, total=121.47s, count=300, min=366.8ms, max=759.6ms + save_trajectories: mean=11.84s, total=11.84s, count=1, min=11844.1ms, max=11844.1ms + physics_step: mean=26.2ms, total=7.87s, count=300, min=17.1ms, max=40.2ms + save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4431.9ms, max=4431.9ms + task_sampling: mean=607.1ms, total=607.1ms, count=1, min=607.1ms, max=607.1ms + task_specific_sample: mean=603.0ms, total=603.0ms, count=1, min=603.0ms, max=603.0ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=449.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:53:24 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 10:53:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:53:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:53:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:53:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:53:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:53:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:53:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:53:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:53:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:53:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:53:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:53:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:53:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067754m [env.py: 870] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:53:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:53:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:53:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:53:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:53:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:53:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81062614 0.26429234 0.06775441] yaw=142.9deg [env.py: 1019] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00899525 1.21162674 0.06775441] yaw=-163.8deg [env.py: 1019] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:53:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=190.7ms, total=190.8ms [env.py: 1075] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.811, 0.264, 0.068) [env.py: 1079] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.9 deg [env.py: 1082] +05/12 10:53:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086] +05/12 10:53:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:53:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:53:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:53:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:53:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:53:25 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 10:53:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 10:53:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:53:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:53:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:53:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.888s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:53:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.501[m] 90.423[deg] [grasp_sample.py: 539] +05/12 10:53:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:53:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:53:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:53:27 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.971s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:53:27 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.891[deg] [grasp_sample.py: 539] +05/12 10:53:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:53:28 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:53:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:53:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:53:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:53:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:53:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:53:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:53:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:53:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:53:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:53:30 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 10:53:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:53:30 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 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067330m [env.py: 870] +05/12 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:53:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89850749 0.53883978 0.06732965] yaw=-162.0deg [env.py: 1019] +05/12 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88243239 0.87651603 0.06732965] yaw=-122.6deg [env.py: 1019] +05/12 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91827132 0.25037146 0.06732965] yaw=187.1deg [env.py: 1019] +05/12 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:53:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.4ms, total=181.5ms [env.py: 1075] +05/12 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.539, 0.067) [env.py: 1079] +05/12 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg [env.py: 1082] +05/12 10:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/12 10:53:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:53:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:53:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:53:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:53:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:53:30 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 10:53:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.190s [base_object_manipulation_planner_policy.py: 377] +05/12 10:53:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:53:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:53:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:53:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.822s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:53:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.357[m] 82.376[deg] [grasp_sample.py: 539] +05/12 10:53:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:53:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:53:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:53:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:53:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:53:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 10:53:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.45s (batch: 4.35s, save: 11.10s) [pipeline.py: 300] +05/12 10:53:40 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.44s: + episode_total: mean=187.64s, total=187.64s, count=1, min=187642.3ms, max=187642.3ms + sensor_polling: mean=432.6ms, total=129.79s, count=300, min=400.3ms, max=845.0ms + save_trajectories: mean=11.10s, total=11.10s, count=1, min=11095.2ms, max=11095.2ms + physics_step: mean=25.3ms, total=7.59s, count=300, min=21.6ms, max=36.1ms + save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4354.5ms, max=4354.5ms + task_sampling: mean=436.1ms, total=436.1ms, count=1, min=436.1ms, max=436.1ms + task_specific_sample: mean=432.1ms, total=432.1ms, count=1, min=432.1ms, max=432.1ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=472.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=26.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:53:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:53:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:53:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:53:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:53:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:53:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:53:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:53:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:53:41 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 10:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035640m [env.py: 870] +05/12 10:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:53:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83705116 0.67830409 0.0356399 ] yaw=-190.2deg [env.py: 1019] +05/12 10:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:53:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.7ms, total=200.8ms [env.py: 1075] +05/12 10:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.837, 0.678, 0.036) [env.py: 1079] +05/12 10:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -190.2 deg [env.py: 1082] +05/12 10:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/12 10:53:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:53:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:53:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:53:42 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 10:53:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/12 10:53:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:53:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:53:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:53:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.842s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:53:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.559[m] 97.155[deg] [grasp_sample.py: 539] +05/12 10:53:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:53:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:53:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:54:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:54:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:54:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:54:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:54:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:54:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:54:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:54:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:54:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:54:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:55:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:55:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:55:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:55:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:55:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:55:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:55:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 10:55:04 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.528s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:55:04 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.391[deg] [grasp_sample.py: 539] +05/12 10:55:06 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:55:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:55:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:55:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:55:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:55:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:55:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:55:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:55:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:55:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:55:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:55:08 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 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072648m [env.py: 870] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:55:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68337926 0.75921561 0.07264836] yaw=-176.6deg [env.py: 1019] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12069157 1.18122297 0.07264836] yaw=-132.0deg [env.py: 1019] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.07712802 1.01684749 0.07264836] yaw=-153.0deg [env.py: 1019] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:55:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=260.5ms, total=260.5ms [env.py: 1075] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.683, 0.759, 0.073) [env.py: 1079] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.6 deg [env.py: 1082] +05/12 10:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m [env.py: 1086] +05/12 10:55:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:55:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:55:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:55:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:55:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:55:09 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 10:55:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 10:55:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:55:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:55:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:55:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.251s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:55:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.605[m] 75.950[deg] [grasp_sample.py: 539] +05/12 10:55:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:55:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:55:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:55:46 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:55:57 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:56:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:56:08 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:56:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:56:17 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 10:56:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:56:17 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/12 10:56:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:56:26 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 10:56:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:56:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:56:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:56:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 10:56:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 18.92s (batch: 7.95s, save: 10.97s) [pipeline.py: 300] +05/12 10:56:36 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.05s: + episode_total: mean=180.31s, total=360.62s, count=2, min=173921.3ms, max=186697.9ms + sensor_polling: mean=436.1ms, total=250.35s, count=574, min=378.7ms, max=981.9ms + physics_step: mean=24.5ms, total=14.08s, count=574, min=19.7ms, max=33.3ms + save_trajectories: mean=10.97s, total=10.97s, count=1, min=10965.9ms, max=10965.9ms + save_batch_prep: mean=7.95s, total=7.95s, count=1, min=7952.6ms, max=7952.6ms + task_sampling: mean=523.2ms, total=1.05s, count=2, min=512.8ms, max=533.6ms + task_specific_sample: mean=518.2ms, total=1.04s, count=2, min=507.8ms, max=528.5ms + scene_randomize: mean=3.0ms, total=5.9ms, count=2, min=2.6ms, max=3.3ms + mj_forward_sync: mean=648.9us, total=1.3ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=28.9us, 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 10:56:37 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 10:56:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:56:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:56:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:56:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:56:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:56:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:56:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:56:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:56:39 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 10:56:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:56:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046286m [env.py: 870] +05/12 10:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:56:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69858653 0.41304388 0.04628616] yaw=168.1deg [env.py: 1019] +05/12 10:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82394837 0.89874968 0.04628616] yaw=-163.1deg [env.py: 1019] +05/12 10:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96477611 0.77172369 0.04628616] yaw=-155.3deg [env.py: 1019] +05/12 10:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:56:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.4ms, total=107.5ms [env.py: 1075] +05/12 10:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.699, 0.413, 0.046) [env.py: 1079] +05/12 10:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.1 deg [env.py: 1082] +05/12 10:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m [env.py: 1086] +05/12 10:56:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:56:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:56:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:56:39 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 10:56:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s [base_object_manipulation_planner_policy.py: 377] +05/12 10:56:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:56:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:56:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:56:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.146s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:56:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.568[m] 93.173[deg] [grasp_sample.py: 539] +05/12 10:56:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:56:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:56:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:56:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:56:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 10:56:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.42s (batch: 4.11s, save: 11.30s) [pipeline.py: 300] +05/12 10:56:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:56:42 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.51s: + episode_total: mean=197.01s, total=197.01s, count=1, min=197009.2ms, max=197009.2ms + sensor_polling: mean=405.2ms, total=121.56s, count=300, min=373.9ms, max=784.4ms + save_trajectories: mean=11.30s, total=11.30s, count=1, min=11301.6ms, max=11301.6ms + physics_step: mean=25.2ms, total=7.56s, count=300, min=16.7ms, max=36.2ms + save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4113.5ms, max=4113.5ms + task_sampling: mean=510.9ms, total=510.9ms, count=1, min=510.9ms, max=510.9ms + task_specific_sample: mean=506.9ms, total=506.9ms, count=1, min=506.9ms, max=506.9ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=457.7us, 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 10:56:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:56:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:56:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:56:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:56:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:56:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:56:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:56:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:56:43 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 10:56:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:56:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048895m [env.py: 870] +05/12 10:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:56:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02126471 1.29042973 0.04889495] yaw=-103.3deg [env.py: 1019] +05/12 10:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9597293 1.24443539 0.04889495] yaw=-144.8deg [env.py: 1019] +05/12 10:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73598114 0.58971037 0.04889495] yaw=-158.6deg [env.py: 1019] +05/12 10:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:56:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=120.6ms, total=120.7ms [env.py: 1075] +05/12 10:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.021, 1.290, 0.049) [env.py: 1079] +05/12 10:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -103.3 deg [env.py: 1082] +05/12 10:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/12 10:56:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:56:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:56:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:56:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:56:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:56:43 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 10:56:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 10:56:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:56:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:56:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:56:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.723s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:56:46 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:56:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:56:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:56:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:56:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:56:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:56:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:56:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:56:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:56:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018163m [env.py: 870] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:56:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6734254 0.49982186 0.01816299] yaw=-210.6deg [env.py: 1019] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83532142 0.92914504 0.01816299] yaw=-159.9deg [env.py: 1019] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.93234486 0.35660351 0.01816299] yaw=187.5deg [env.py: 1019] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:56:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=341.4ms, total=341.4ms [env.py: 1075] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.673, 0.500, 0.018) [env.py: 1079] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -210.6 deg [env.py: 1082] +05/12 10:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/12 10:56:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:56:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:56:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:56:49 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 10:56:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/12 10:56:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:56:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:56:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:56:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.418s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:56:51 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.701[m] 100.838[deg] [grasp_sample.py: 539] +05/12 10:56:52 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:56:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:56:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:56:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:56:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:56:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:56:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:56:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:56:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:56:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038438m [env.py: 870] +05/12 10:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:56:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87974218 0.59153847 0.03843832] yaw=-167.5deg [env.py: 1019] +05/12 10:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73901016 0.78266982 0.03843832] yaw=-164.1deg [env.py: 1019] +05/12 10:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:56:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=273.3ms, total=273.4ms [env.py: 1075] +05/12 10:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.592, 0.038) [env.py: 1079] +05/12 10:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg [env.py: 1082] +05/12 10:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/12 10:56:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:56:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:56:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:56:54 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 10:56:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 10:56:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:56:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:56:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:56:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.814s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:56:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.402[m] 94.053[deg] [grasp_sample.py: 539] +05/12 10:56:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:56:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:56:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 10:56:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 17.88s (batch: 5.73s, save: 12.15s) [pipeline.py: 300] +05/12 10:56:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:56:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:56:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:56:56 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.51s: + episode_total: mean=195.08s, total=195.08s, count=1, min=195075.0ms, max=195075.0ms + sensor_polling: mean=448.9ms, total=134.66s, count=300, min=391.6ms, max=858.5ms + save_trajectories: mean=12.15s, total=12.15s, count=1, min=12147.1ms, max=12147.1ms + physics_step: mean=25.9ms, total=7.78s, count=300, min=18.6ms, max=35.4ms + save_batch_prep: mean=5.73s, total=5.73s, count=1, min=5732.9ms, max=5732.9ms + task_sampling: mean=513.2ms, total=513.2ms, count=1, min=513.2ms, max=513.2ms + task_specific_sample: mean=509.2ms, total=509.2ms, count=1, min=509.2ms, max=509.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=455.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=23.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:56:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:56:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:56:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:56:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:56:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:56:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:56:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:56:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:56:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085270m [env.py: 870] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:56:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99756055 0.87287995 0.08526956] yaw=-150.5deg [env.py: 1019] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00711172 1.12967846 0.08526956] yaw=-149.1deg [env.py: 1019] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93261903 0.07744069 0.08526956] yaw=124.6deg [env.py: 1019] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:56:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.6ms, total=208.7ms [env.py: 1075] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.998, 0.873, 0.085) [env.py: 1079] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg [env.py: 1082] +05/12 10:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/12 10:56:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:56:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:56:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:56:59 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 10:56:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/12 10:56:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:56:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:56:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:57:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.828s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:57:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.352[m] 87.741[deg] [grasp_sample.py: 539] +05/12 10:57:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:57:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:57:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:57:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:57:31 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:57:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:57:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:57:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:57:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:57:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:57:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:57:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:57:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:58:00 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 10:58:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:58:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:58:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:58:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 10:58:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.30s (batch: 4.04s, save: 11.26s) [pipeline.py: 300] +05/12 10:58:15 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.02s: + episode_total: mean=163.25s, total=326.50s, count=2, min=139088.8ms, max=187409.1ms + sensor_polling: mean=428.5ms, total=243.81s, count=569, min=385.7ms, max=915.8ms + physics_step: mean=24.9ms, total=14.17s, count=569, min=17.0ms, max=98.0ms + save_trajectories: mean=11.26s, total=11.26s, count=1, min=11260.7ms, max=11260.7ms + save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4039.0ms, max=4039.0ms + task_sampling: mean=508.2ms, total=1.02s, count=2, min=431.0ms, max=585.4ms + task_specific_sample: mean=501.9ms, total=1.00s, count=2, min=422.5ms, max=581.2ms + scene_randomize: mean=2.9ms, total=5.8ms, count=2, min=2.2ms, max=3.6ms + mj_forward_sync: mean=647.8us, total=1.3ms, count=2, min=0.5ms, max=0.8ms + policy_setup: mean=18.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:58:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:58:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:58:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:58:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:58:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:58:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:58:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046521m [env.py: 870] +05/12 10:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:58:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9500977 0.83021666 0.04652091] yaw=-131.2deg [env.py: 1019] +05/12 10:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.94391483 0.55619299 0.04652091] yaw=-155.8deg [env.py: 1019] +05/12 10:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:58:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.4ms, total=206.5ms [env.py: 1075] +05/12 10:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.830, 0.047) [env.py: 1079] +05/12 10:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.2 deg [env.py: 1082] +05/12 10:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/12 10:58:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:58:17 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 10:58:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/12 10:58:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:58:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:58:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:58:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.102s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:58:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.459[m] 91.318[deg] [grasp_sample.py: 539] +05/12 10:58:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:58:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:58:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:58:19 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 10:58:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:59:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:59:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:59:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:59:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:59:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:59:05 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 10:59:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:59:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 10:59:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.621s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:59:06 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.803[deg] [grasp_sample.py: 539] +05/12 10:59:07 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:59:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:59:07 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:59:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:59:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:59:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:59:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:59:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:59:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:59:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:59:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:59:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080233m [env.py: 870] +05/12 10:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:59:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78772072 0.70114023 0.08023347] yaw=-169.0deg [env.py: 1019] +05/12 10:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.61529874 0.35240738 0.08023347] yaw=141.6deg [env.py: 1019] +05/12 10:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81592621 0.58035779 0.08023347] yaw=-195.2deg [env.py: 1019] +05/12 10:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:59:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=691.7ms, total=691.8ms [env.py: 1075] +05/12 10:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.788, 0.701, 0.080) [env.py: 1079] +05/12 10:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg [env.py: 1082] +05/12 10:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/12 10:59:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:59:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:59:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:59:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:59:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:59:10 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 10:59:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377] +05/12 10:59:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:59:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:59:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:59:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:59:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.856s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:59:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.479[m] 89.296[deg] [grasp_sample.py: 539] +05/12 10:59:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:59:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:59:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:59:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:59:20 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 10:59:34 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 10:59:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:59:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:59:46 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 10:59:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:59:46 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/12 10:59:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:59:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 10:59:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.94s (batch: 4.50s, save: 11.44s) [pipeline.py: 300] +05/12 10:59:51 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.61s: + episode_total: mean=61.38s, total=184.13s, count=3, min=3340.4ms, max=177347.3ms + sensor_polling: mean=404.3ms, total=121.28s, count=300, min=373.5ms, max=803.0ms + save_trajectories: mean=11.44s, total=11.44s, count=1, min=11437.6ms, max=11437.6ms + physics_step: mean=25.4ms, total=7.61s, count=300, min=17.1ms, max=226.2ms + save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4497.7ms, max=4497.7ms + task_sampling: mean=538.3ms, total=1.61s, count=3, min=422.2ms, max=622.9ms + task_specific_sample: mean=534.0ms, total=1.60s, count=3, min=418.2ms, max=617.2ms + scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.2ms, max=2.6ms + mj_forward_sync: mean=451.0us, total=1.4ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=24.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:59:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:59:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:59:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:59:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:59:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:59:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:59:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:59:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 10:59:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 10:59:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 10:59:52 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 10:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 10:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024308m [env.py: 870] +05/12 10:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 10:59:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 10:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 10:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86092603 0.57879742 0.02430751] yaw=-191.9deg [env.py: 1019] +05/12 10:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82819081 0.11497528 0.02430751] yaw=156.7deg [env.py: 1019] +05/12 10:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63045345 0.25230323 0.02430751] yaw=200.3deg [env.py: 1019] +05/12 10:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:59:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.0ms, total=103.0ms [env.py: 1075] +05/12 10:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.861, 0.579, 0.024) [env.py: 1079] +05/12 10:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -191.9 deg [env.py: 1082] +05/12 10:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 10:59:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:59:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:59:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 10:59:53 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 10:59:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 10:59:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:59:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:59:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 10:59:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.827s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:59:54 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.437[m] 90.721[deg] [grasp_sample.py: 539] +05/12 10:59:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:59:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:59:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:59:55 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 10:59:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:00:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:00:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:00:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.06s (batch: 4.78s, save: 11.28s) [pipeline.py: 300] +05/12 11:00:03 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.53s: + episode_total: mean=184.74s, total=184.74s, count=1, min=184742.4ms, max=184742.4ms + sensor_polling: mean=444.1ms, total=129.24s, count=291, min=405.2ms, max=843.0ms + save_trajectories: mean=11.28s, total=11.28s, count=1, min=11279.2ms, max=11279.2ms + physics_step: mean=25.4ms, total=7.40s, count=291, min=21.5ms, max=34.9ms + save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4780.4ms, max=4780.4ms + task_sampling: mean=530.0ms, total=530.0ms, count=1, min=530.0ms, max=530.0ms + task_specific_sample: mean=525.4ms, total=525.4ms, count=1, min=525.4ms, max=525.4ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=455.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=37.9us, 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 11:00:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:00:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:00:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:00:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:00:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:00:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:00:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:00:05 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 11:00:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:00:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026119m [env.py: 870] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:00:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65619753 0.57660753 0.02611862] yaw=-144.3deg [env.py: 1019] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91495318 0.80825067 0.02611862] yaw=-123.3deg [env.py: 1019] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81366048 0.15885776 0.02611862] yaw=146.1deg [env.py: 1019] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:00:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.4ms, total=204.4ms [env.py: 1075] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.656, 0.577, 0.026) [env.py: 1079] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.3 deg [env.py: 1082] +05/12 11:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/12 11:00:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:00:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:00:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:00:05 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 11:00:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 11:00:06 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 11:00:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:00:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:00:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.037s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:00:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.712[m] 98.236[deg] [grasp_sample.py: 539] +05/12 11:00:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:00:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:00:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:00:08 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 11:00:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:00:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:00:32 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:00:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:00:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:01:00 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:01:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:01:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:01:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:01:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:01:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:01:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.30s (batch: 3.67s, save: 11.64s) [pipeline.py: 300] +05/12 11:01:16 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s: + episode_total: mean=178.90s, total=178.90s, count=1, min=178898.5ms, max=178898.5ms + sensor_polling: mean=410.3ms, total=123.09s, count=300, min=384.0ms, max=940.7ms + save_trajectories: mean=11.64s, total=11.64s, count=1, min=11635.3ms, max=11635.3ms + physics_step: mean=24.4ms, total=7.33s, count=300, min=16.9ms, max=53.2ms + save_batch_prep: mean=3.67s, total=3.67s, count=1, min=3666.9ms, max=3666.9ms + task_sampling: mean=487.8ms, total=487.8ms, count=1, min=487.8ms, max=487.8ms + task_specific_sample: mean=483.8ms, total=483.8ms, count=1, min=483.8ms, max=483.8ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=453.9us, 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 11:01:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:01:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:01:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:01:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:01:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:01:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:01:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:01:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:01:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049498m [env.py: 870] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:01:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79122267 0.40699413 0.04949762] yaw=175.5deg [env.py: 1019] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.71185987 0.24961885 0.04949762] yaw=166.1deg [env.py: 1019] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.98264655 0.23969334 0.04949762] yaw=150.6deg [env.py: 1019] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:01:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.3ms, total=209.3ms [env.py: 1075] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.791, 0.407, 0.049) [env.py: 1079] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.5 deg [env.py: 1082] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 11:01:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:01:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:01:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:01:18 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 11:01:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 11:01:18 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 11:01:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:01:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:01:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.794s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:01:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.484[m] 93.176[deg] [grasp_sample.py: 539] +05/12 11:01:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:01:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:01:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:01:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:01:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:01:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:01:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:01:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:01:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:01:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:01:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:01:35 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:01:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:01:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:01:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:01:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:01:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:01:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:01:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:01:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 11:01:40 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.683s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:01:40 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.293[deg] [grasp_sample.py: 539] +05/12 11:01:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:01:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:01:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:01:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:01:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:01:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:02:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:02:04 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:02:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:02:04 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:02:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:02:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:02:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:02:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:02:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:02:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:02:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:02:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:02:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:02:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:02:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:02:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:02:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:02:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 11:02:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:02:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.874s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:02:18 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.774[deg] [grasp_sample.py: 539] +05/12 11:02:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:02:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:02:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:02:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:02:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:02:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.22s (batch: 4.83s, save: 10.39s) [pipeline.py: 300] +05/12 11:02:20 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.43s: + episode_total: mean=169.55s, total=339.09s, count=2, min=148581.5ms, max=190512.4ms + sensor_polling: mean=433.5ms, total=258.37s, count=596, min=397.4ms, max=974.7ms + physics_step: mean=24.0ms, total=14.30s, count=596, min=16.6ms, max=43.1ms + save_trajectories: mean=10.39s, total=10.39s, count=1, min=10391.2ms, max=10391.2ms + save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4833.2ms, max=4833.2ms + task_sampling: mean=712.7ms, total=1.43s, count=2, min=468.9ms, max=956.4ms + task_specific_sample: mean=707.6ms, total=1.42s, count=2, min=463.8ms, max=951.5ms + scene_randomize: mean=2.9ms, total=5.8ms, count=2, min=2.1ms, max=3.7ms + mj_forward_sync: mean=468.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=27.2us, 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 11:02:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:02:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:02:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:02:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:02:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:02:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:02:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:02:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:02:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:02:22 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 11:02:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:02:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081061m [env.py: 870] +05/12 11:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:02:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89757599 0.49831193 0.08106114] yaw=-196.4deg [env.py: 1019] +05/12 11:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87175498 1.14256404 0.08106114] yaw=-124.0deg [env.py: 1019] +05/12 11:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87730862 0.15515387 0.08106114] yaw=181.7deg [env.py: 1019] +05/12 11:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:02:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.9ms, total=104.0ms [env.py: 1075] +05/12 11:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.898, 0.498, 0.081) [env.py: 1079] +05/12 11:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -196.4 deg [env.py: 1082] +05/12 11:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/12 11:02:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:02:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:02:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:02:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:02:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:02:22 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 11:02:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 11:02:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:02:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:02:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:02:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:02:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.771s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:02:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.406[m] 89.454[deg] [grasp_sample.py: 539] +05/12 11:02:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:02:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:02:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:02:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:02:25 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:02:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:02:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:02:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:02:40 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:02:53 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:02:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:02:53 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:02:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:03:07 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:03:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:03:07 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:03:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:03:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:03:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:03:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.97s (batch: 4.78s, save: 11.20s) [pipeline.py: 300] +05/12 11:03:10 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.52s: + episode_total: mean=184.76s, total=184.76s, count=1, min=184759.6ms, max=184759.6ms + sensor_polling: mean=422.4ms, total=126.73s, count=300, min=388.0ms, max=812.6ms + save_trajectories: mean=11.20s, total=11.20s, count=1, min=11195.2ms, max=11195.2ms + physics_step: mean=24.2ms, total=7.27s, count=300, min=16.7ms, max=33.6ms + save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4777.7ms, max=4777.7ms + task_sampling: mean=515.0ms, total=515.0ms, count=1, min=515.0ms, max=515.0ms + task_specific_sample: mean=510.7ms, total=510.7ms, count=1, min=510.7ms, max=510.7ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=475.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=23.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:03:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:03:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:03:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:03:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:03:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:03:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:03:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:03:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:03:11 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 11:03:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:03:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042946m [env.py: 870] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:03:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91115132 0.17839828 0.04294646] yaw=172.1deg [env.py: 1019] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02683077 1.07274641 0.04294646] yaw=-156.2deg [env.py: 1019] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.1884001 1.11745772 0.04294646] yaw=-92.1deg [env.py: 1019] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:03:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.6ms, total=190.7ms [env.py: 1075] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.911, 0.178, 0.043) [env.py: 1079] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.1 deg [env.py: 1082] +05/12 11:03:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 11:03:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:03:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:03:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:03:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:03:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:03:12 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 11:03:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 11:03:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:03:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:03:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:03:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.833s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:03:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.425[m] 96.364[deg] [grasp_sample.py: 539] +05/12 11:03:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:03:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:03:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:03:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:03:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:03:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:03:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:03:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.48s (batch: 4.18s, save: 11.30s) [pipeline.py: 300] +05/12 11:03:23 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.41s: + episode_total: mean=210.37s, total=210.37s, count=1, min=210371.1ms, max=210371.1ms + sensor_polling: mean=408.6ms, total=122.58s, count=300, min=373.0ms, max=804.8ms + save_trajectories: mean=11.30s, total=11.30s, count=1, min=11300.3ms, max=11300.3ms + physics_step: mean=24.6ms, total=7.39s, count=300, min=15.7ms, max=32.9ms + save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4182.8ms, max=4182.8ms + task_sampling: mean=410.6ms, total=410.6ms, count=1, min=410.6ms, max=410.6ms + task_specific_sample: mean=406.5ms, total=406.5ms, count=1, min=406.5ms, max=406.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=451.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:03:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:03:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:03:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:03:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:03:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:03:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:03:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:03:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:03:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046707m [env.py: 870] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:03:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.13745657 1.08249814 0.04670651] yaw=-111.4deg [env.py: 1019] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.05473433 0.87417225 0.04670651] yaw=-188.0deg [env.py: 1019] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:03:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=191.5ms, total=191.6ms [env.py: 1075] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.137, 1.082, 0.047) [env.py: 1079] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -111.4 deg [env.py: 1082] +05/12 11:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/12 11:03:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:03:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:03:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:03:25 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 11:03:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/12 11:03:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:03:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:03:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:03:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.971s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:03:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.453[m] 102.936[deg] [grasp_sample.py: 539] +05/12 11:03:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:03:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:03:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:03:42 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:03:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:03:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:03:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:03:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:03:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:04:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:04:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:04:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:04:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:04:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:04:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:04:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:04:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:04:05 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 11:04:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:04:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 11:04:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.667s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:04:05 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.055[m] 0.785[deg] [grasp_sample.py: 539] +05/12 11:04:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:04:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:04:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:04:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:04:10 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:04:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:04:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:04:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:04:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:04:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:04:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:04:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:04:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:04:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.32s (batch: 4.33s, save: 10.99s) [pipeline.py: 300] +05/12 11:04:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:04:26 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.54s: + episode_total: mean=188.51s, total=188.51s, count=1, min=188506.2ms, max=188506.2ms + sensor_polling: mean=433.6ms, total=130.08s, count=300, min=400.4ms, max=976.5ms + save_trajectories: mean=10.99s, total=10.99s, count=1, min=10987.9ms, max=10987.9ms + physics_step: mean=25.3ms, total=7.59s, count=300, min=21.5ms, max=37.3ms + save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4327.3ms, max=4327.3ms + task_sampling: mean=543.8ms, total=543.8ms, count=1, min=543.8ms, max=543.8ms + task_specific_sample: mean=540.0ms, total=540.0ms, count=1, min=540.0ms, max=540.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=462.6us, 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 11:04:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:04:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:04:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:04:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:04:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:04:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:04:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:04:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:04:27 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 11:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051106m [env.py: 870] +05/12 11:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:04:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68072433 0.78993628 0.05110595] yaw=-153.9deg [env.py: 1019] +05/12 11:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81999522 0.374352 0.05110595] yaw=180.2deg [env.py: 1019] +05/12 11:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:04:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=198.5ms, total=198.5ms [env.py: 1075] +05/12 11:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.681, 0.790, 0.051) [env.py: 1079] +05/12 11:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.9 deg [env.py: 1082] +05/12 11:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m [env.py: 1086] +05/12 11:04:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:04:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:04:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:04:28 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 11:04:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/12 11:04:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:04:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:04:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:04:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.952s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:04:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.609[m] 80.569[deg] [grasp_sample.py: 539] +05/12 11:04:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:04:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:04:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:04:31 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 11:04:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:04:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:04:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:04:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:04:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:04:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:04:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:04:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:04:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:04:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:04:59 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 11:04:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:04:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 11:05:00 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.718s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:05:00 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.786[deg] [grasp_sample.py: 539] +05/12 11:05:02 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:05:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:05:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:05:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:05:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:05:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:05:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:05:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:05:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:05:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073380m [env.py: 870] +05/12 11:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:05:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69780075 0.92957076 0.07337999] yaw=-175.2deg [env.py: 1019] +05/12 11:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97279522 0.93142661 0.07337999] yaw=-182.9deg [env.py: 1019] +05/12 11:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:05:04 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:05:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=255.1ms, total=255.2ms [env.py: 1075] +05/12 11:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.930, 0.073) [env.py: 1079] +05/12 11:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.2 deg [env.py: 1082] +05/12 11:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m [env.py: 1086] +05/12 11:05:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:05:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:05:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:05:04 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 11:05:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/12 11:05:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:05:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:05:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:05:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.672s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:05:07 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.698[m] 92.013[deg] [grasp_sample.py: 539] +05/12 11:05:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:05:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:05:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:05:08 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 11:05:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:05:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:30 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:05:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:05:30 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:05:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:05:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:05:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:05:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:05:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:05:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 11:05:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.731s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:05:42 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.321[deg] [grasp_sample.py: 539] +05/12 11:05:44 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:05:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:05:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:05:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.94s (batch: 3.92s, save: 11.02s) [pipeline.py: 300] +05/12 11:05:46 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.42s: + episode_total: mean=203.90s, total=203.90s, count=1, min=203899.1ms, max=203899.1ms + sensor_polling: mean=430.9ms, total=129.26s, count=300, min=400.5ms, max=987.6ms + save_trajectories: mean=11.02s, total=11.02s, count=1, min=11015.7ms, max=11015.7ms + physics_step: mean=24.3ms, total=7.29s, count=300, min=16.7ms, max=37.2ms + save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3920.2ms, max=3920.2ms + task_sampling: mean=424.9ms, total=424.9ms, count=1, min=424.9ms, max=424.9ms + task_specific_sample: mean=420.6ms, total=420.6ms, count=1, min=420.6ms, max=420.6ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=452.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=28.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:05:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:05:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:05:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:05:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:05:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:05:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:05:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:05:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:05:46 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 11:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098936m [env.py: 870] +05/12 11:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:05:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07145192 1.15550966 0.09893633] yaw=-146.3deg [env.py: 1019] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92804064 1.21542002 0.09893633] yaw=-102.5deg [env.py: 1019] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90574695 1.17602539 0.09893633] yaw=-129.6deg [env.py: 1019] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:05:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=339.2ms, total=339.2ms [env.py: 1075] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.071, 1.156, 0.099) [env.py: 1079] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg [env.py: 1082] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m [env.py: 1086] +05/12 11:05:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:05:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:05:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:05:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:05:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:05:47 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 11:05:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s [base_object_manipulation_planner_policy.py: 377] +05/12 11:05:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:05:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:05:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:05:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:05:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:05:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:05:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:05:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:05:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:05:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:05:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:05:47 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 11:05:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:05:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028050m [env.py: 870] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:05:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90572276 0.44770622 0.02804983] yaw=166.5deg [env.py: 1019] +05/12 11:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84682015 0.10534937 0.02804983] yaw=153.3deg [env.py: 1019] +05/12 11:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80052612 1.09788099 0.02804983] yaw=-159.5deg [env.py: 1019] +05/12 11:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:05:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.4ms, total=129.4ms [env.py: 1075] +05/12 11:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.906, 0.448, 0.028) [env.py: 1079] +05/12 11:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.5 deg [env.py: 1082] +05/12 11:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m [env.py: 1086] +05/12 11:05:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:05:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:05:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:05:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:05:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:05:48 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 11:05:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/12 11:05:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:05:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:05:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:05:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.847s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:05:49 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.313[m] 78.940[deg] [grasp_sample.py: 539] +05/12 11:05:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:05:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:05:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:05:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.653s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:05:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.547[m] 86.666[deg] [grasp_sample.py: 539] +05/12 11:05:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:05:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:05:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:05:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:06:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:06:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:06:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:06:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:06:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:06:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:06:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:06:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:06:47 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:06:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:07:15 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:07:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:07:15 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:07:27 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:07:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:07:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:07:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.37s (batch: 3.75s, save: 11.62s) [pipeline.py: 300] +05/12 11:07:30 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.56s: + episode_total: mean=183.41s, total=183.41s, count=1, min=183411.6ms, max=183411.6ms + sensor_polling: mean=424.5ms, total=127.35s, count=300, min=388.9ms, max=1047.8ms + save_trajectories: mean=11.62s, total=11.62s, count=1, min=11622.0ms, max=11622.0ms + physics_step: mean=24.2ms, total=7.25s, count=300, min=17.4ms, max=59.9ms + save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3752.3ms, max=3752.3ms + task_sampling: mean=555.7ms, total=555.7ms, count=1, min=555.7ms, max=555.7ms + task_specific_sample: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=460.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:07:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:07:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:07:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:07:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:07:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:07:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:07:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:07:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:07:32 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 11:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052288m [env.py: 870] +05/12 11:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:07:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85911454 0.08829626 0.05228844] yaw=157.5deg [env.py: 1019] +05/12 11:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:07:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=203.4ms, total=203.5ms [env.py: 1075] +05/12 11:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.088, 0.052) [env.py: 1079] +05/12 11:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.5 deg [env.py: 1082] +05/12 11:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/12 11:07:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:07:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:07:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:07:32 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 11:07:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 11:07:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:07:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:07:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:07:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.886s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:07:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.457[m] 87.123[deg] [grasp_sample.py: 539] +05/12 11:07:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:07:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:07:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:07:35 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 11:07:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:07:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:07:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:07:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:07:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:07:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:07:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:07:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:07:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:07:52 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 11:07:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:07:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 84 non-colliding grasps [grasp_sample.py: 465] +05/12 11:07:53 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.748s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:07:53 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.036[m] 29.250[deg] [grasp_sample.py: 539] +05/12 11:07:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:07:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:07:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:07:55 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:07:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:07:55 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:07:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:07:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:07:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:07:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:07:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:07:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.674s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:07:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.082[m] 22.951[deg] [grasp_sample.py: 539] +05/12 11:07:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:07:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:07:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:08:00 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:08:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:08:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:08:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:08:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.74s (batch: 4.37s, save: 11.37s) [pipeline.py: 300] +05/12 11:08:11 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.06s: + episode_total: mean=149.19s, total=298.37s, count=2, min=110427.6ms, max=187945.6ms + sensor_polling: mean=430.3ms, total=218.16s, count=507, min=394.6ms, max=918.2ms + physics_step: mean=25.0ms, total=12.66s, count=507, min=16.9ms, max=36.2ms + save_trajectories: mean=11.37s, total=11.37s, count=1, min=11370.4ms, max=11370.4ms + save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4369.7ms, max=4369.7ms + task_sampling: mean=527.7ms, total=1.06s, count=2, min=504.9ms, max=550.6ms + task_specific_sample: mean=523.0ms, total=1.05s, count=2, min=500.8ms, max=545.2ms + scene_randomize: mean=2.6ms, total=5.2ms, count=2, min=2.6ms, max=2.6ms + mj_forward_sync: mean=530.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=30.1us, 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 11:08:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:08:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:08:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:08:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:08:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:08:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:08:13 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 11:08:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:08:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076694m [env.py: 870] +05/12 11:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:08:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81311499 0.63423827 0.07669441] yaw=-136.4deg [env.py: 1019] +05/12 11:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93104015 0.93886142 0.07669441] yaw=-170.0deg [env.py: 1019] +05/12 11:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91039816 0.62055083 0.07669441] yaw=-165.7deg [env.py: 1019] +05/12 11:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:08:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=113.7ms, total=113.8ms [env.py: 1075] +05/12 11:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.813, 0.634, 0.077) [env.py: 1079] +05/12 11:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.4 deg [env.py: 1082] +05/12 11:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m [env.py: 1086] +05/12 11:08:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:08:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:08:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:08:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:08:13 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 11:08:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/12 11:08:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:08:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:08:14 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 11:08:14 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=1.17s: + episode_total: mean=143.25s, total=286.50s, count=2, min=139377.8ms, max=147126.0ms + sensor_polling: mean=404.4ms, total=234.56s, count=580, min=365.1ms, max=926.3ms + physics_step: mean=24.6ms, total=14.24s, count=580, min=16.9ms, max=34.8ms + task_sampling: mean=582.6ms, total=1.17s, count=2, min=557.9ms, max=607.4ms + task_specific_sample: mean=577.4ms, total=1.15s, count=2, min=553.9ms, max=601.0ms + scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=2.0ms, max=2.5ms + mj_forward_sync: mean=453.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=16.8us, 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 11:08:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:08:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.521s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:08:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.546[m] 86.740[deg] [grasp_sample.py: 539] +05/12 11:08:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:08:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:08:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:08:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:08:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:08:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:08:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:08:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:08:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:08:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:08:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:08:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087415m [env.py: 870] +05/12 11:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:08:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79414621 0.05359557 0.08741472] yaw=178.5deg [env.py: 1019] +05/12 11:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84334725 0.36732043 0.08741472] yaw=203.5deg [env.py: 1019] +05/12 11:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:08:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:08:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:08:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=358.8ms, total=358.9ms [env.py: 1075] +05/12 11:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.794, 0.054, 0.087) [env.py: 1079] +05/12 11:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.5 deg [env.py: 1082] +05/12 11:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/12 11:08:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:08:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:08:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:08:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:08:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:08:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:08:16 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 11:08:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/12 11:08:16 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 11:08:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:08:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:08:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:08:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.089s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:08:21 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.623[m] 96.329[deg] [grasp_sample.py: 539] +05/12 11:08:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:08:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:08:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:08:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:08:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:08:27 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:08:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:08:27 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 11:08:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:08:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:08:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:08:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.99s (batch: 3.83s, save: 10.17s) [pipeline.py: 300] +05/12 11:08:42 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.44s: + episode_total: mean=174.20s, total=174.20s, count=1, min=174202.2ms, max=174202.2ms + sensor_polling: mean=429.2ms, total=121.04s, count=282, min=384.9ms, max=990.9ms + save_trajectories: mean=10.17s, total=10.17s, count=1, min=10168.5ms, max=10168.5ms + physics_step: mean=24.6ms, total=6.95s, count=282, min=17.0ms, max=34.7ms + save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3826.0ms, max=3826.0ms + task_sampling: mean=440.0ms, total=440.0ms, count=1, min=440.0ms, max=440.0ms + task_specific_sample: mean=435.7ms, total=435.7ms, count=1, min=435.7ms, max=435.7ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=455.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=38.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:08:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:08:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:08:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:08:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:08:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:08:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:08:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:08:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:08:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035425m [env.py: 870] +05/12 11:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:08:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04138019 1.01714937 0.03542464] yaw=-155.1deg [env.py: 1019] +05/12 11:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81928849 0.00158153 0.03542464] yaw=186.9deg [env.py: 1019] +05/12 11:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98857054 1.02988669 0.03542464] yaw=-140.5deg [env.py: 1019] +05/12 11:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:08:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.1ms, total=182.2ms [env.py: 1075] +05/12 11:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.041, 1.017, 0.035) [env.py: 1079] +05/12 11:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg [env.py: 1082] +05/12 11:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/12 11:08:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:08:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:08:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:08:44 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 11:08:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 11:08:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:08:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:08:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:08:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.850s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:08:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.433[m] 85.597[deg] [grasp_sample.py: 539] +05/12 11:08:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:08:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:08:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:09:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:09:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:09:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:09:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:09:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:09:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:09:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:09:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:09:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:09:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:09:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:09:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 11:09:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:32 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.700s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:09:32 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.102[m] 2.468[deg] [grasp_sample.py: 539] +05/12 11:09:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:09:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:09:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:09:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:09:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:09:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:09:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:09:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:09:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 11:09:42 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.586s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:09:42 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.314[deg] [grasp_sample.py: 539] +05/12 11:09:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:09:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:09:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:09:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:09:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:09:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:09:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:09:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:10:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:10:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:10:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:10:22 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:10:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:10:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:10:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:10:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/12 11:10:26 INFO: [Worker 0] Feasibility-checked 70 grasps in 3.836s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:10:26 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.046[m] 5.970[deg] [grasp_sample.py: 539] +05/12 11:10:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:10:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:10:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:10:29 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:10:31 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:10:48 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:10:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:10:56 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:10:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:10:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:10:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:10:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:11:00 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:11:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:11:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:11:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:11:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:11:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:11:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:11:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:11:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:11:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:11:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:11:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 11:11:09 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.787s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:11:09 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.514[deg] [grasp_sample.py: 539] +05/12 11:11:10 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:11:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:11:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:11:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:11:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:11:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:11:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:11:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:11:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:11:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080219m [env.py: 870] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:11:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64430626 0.4947076 0.08021877] yaw=-151.8deg [env.py: 1019] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89579757 0.23872834 0.08021877] yaw=178.4deg [env.py: 1019] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94390441 0.84183792 0.08021877] yaw=-140.5deg [env.py: 1019] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:11:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.8ms, total=138.9ms [env.py: 1075] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.644, 0.495, 0.080) [env.py: 1079] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.8 deg [env.py: 1082] +05/12 11:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m [env.py: 1086] +05/12 11:11:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:11:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:11:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:11:12 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 11:11:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 11:11:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:11:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:11:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:11:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:11:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.84s (batch: 4.10s, save: 11.74s) [pipeline.py: 300] +05/12 11:11:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:11:13 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.52s: + episode_total: mean=220.90s, total=220.90s, count=1, min=220895.5ms, max=220895.5ms + sensor_polling: mean=447.7ms, total=134.30s, count=300, min=403.0ms, max=935.9ms + save_trajectories: mean=11.74s, total=11.74s, count=1, min=11740.5ms, max=11740.5ms + physics_step: mean=25.5ms, total=7.65s, count=300, min=18.6ms, max=35.3ms + save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4099.6ms, max=4099.6ms + task_sampling: mean=515.7ms, total=515.7ms, count=1, min=515.7ms, max=515.7ms + task_specific_sample: mean=511.6ms, total=511.6ms, count=1, min=511.6ms, max=511.6ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=460.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=25.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:11:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.774s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:11:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.694[m] 89.515[deg] [grasp_sample.py: 539] +05/12 11:11:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:11:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:11:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:11:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:11:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:11:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:11:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:11:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:11:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:11:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:11:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:11:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076848m [env.py: 870] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:11:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89841631 0.93876636 0.07684753] yaw=-110.6deg [env.py: 1019] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84362265 0.36230177 0.07684753] yaw=162.6deg [env.py: 1019] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.75300674 0.88382353 0.07684753] yaw=-194.4deg [env.py: 1019] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:11:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.5ms, total=194.5ms [env.py: 1075] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.898, 0.939, 0.077) [env.py: 1079] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -110.6 deg [env.py: 1082] +05/12 11:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/12 11:11:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:11:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:11:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:11:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:11:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:11:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:11:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:11:15 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 11:11:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 11:11:15 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 11:11:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:11:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:11:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:11:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:11:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:11:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.32s (batch: 4.24s, save: 11.09s) [pipeline.py: 300] +05/12 11:11:16 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:11:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:11:16 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:11:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.001s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:11:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.608[m] 99.762[deg] [grasp_sample.py: 539] +05/12 11:11:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:11:16 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.67s: + episode_total: mean=180.62s, total=180.62s, count=1, min=180621.2ms, max=180621.2ms + sensor_polling: mean=398.2ms, total=119.45s, count=300, min=366.6ms, max=893.5ms + save_trajectories: mean=11.09s, total=11.09s, count=1, min=11087.3ms, max=11087.3ms + physics_step: mean=24.5ms, total=7.35s, count=300, min=18.4ms, max=33.2ms + save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4237.4ms, max=4237.4ms + task_sampling: mean=671.1ms, total=671.1ms, count=1, min=671.1ms, max=671.1ms + task_specific_sample: mean=663.1ms, total=663.1ms, count=1, min=663.1ms, max=663.1ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=460.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=13.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:11:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:11:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:11:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:11:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:11:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:11:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:11:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:11:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:11:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:11:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:11:17 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 11:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041575m [env.py: 870] +05/12 11:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:11:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89719851 0.83695208 0.04157519] yaw=-157.1deg [env.py: 1019] +05/12 11:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.13850013 1.1735618 0.04157519] yaw=-106.7deg [env.py: 1019] +05/12 11:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92033535 1.0945787 0.04157519] yaw=-108.0deg [env.py: 1019] +05/12 11:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:11:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.2ms, total=187.2ms [env.py: 1075] +05/12 11:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.897, 0.837, 0.042) [env.py: 1079] +05/12 11:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.1 deg [env.py: 1082] +05/12 11:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m [env.py: 1086] +05/12 11:11:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:11:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:11:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:11:18 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 11:11:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 11:11:18 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 11:11:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:11:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:11:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.873s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:11:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.436[m] 86.981[deg] [grasp_sample.py: 539] +05/12 11:11:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:11:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:11:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:11:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:11:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:11:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.13s (batch: 4.23s, save: 10.90s) [pipeline.py: 300] +05/12 11:11:32 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.45s: + episode_total: mean=198.72s, total=198.72s, count=1, min=198716.1ms, max=198716.1ms + sensor_polling: mean=428.5ms, total=128.54s, count=300, min=393.1ms, max=985.6ms + save_trajectories: mean=10.90s, total=10.90s, count=1, min=10898.1ms, max=10898.1ms + physics_step: mean=23.6ms, total=7.08s, count=300, min=18.2ms, max=34.8ms + save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4232.7ms, max=4232.7ms + task_sampling: mean=446.4ms, total=446.4ms, count=1, min=446.4ms, max=446.4ms + task_specific_sample: mean=441.3ms, total=441.3ms, count=1, min=441.3ms, max=441.3ms + scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + mj_forward_sync: mean=625.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=24.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:11:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:11:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:11:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:11:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:11:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:11:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:11:33 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 11:11:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:11:33 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 11:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096235m [env.py: 870] +05/12 11:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:11:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88150794 1.05225135 0.0962346 ] yaw=-133.5deg [env.py: 1019] +05/12 11:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84827691 0.26643285 0.0962346 ] yaw=181.4deg [env.py: 1019] +05/12 11:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86251775 0.95652538 0.0962346 ] yaw=-116.1deg [env.py: 1019] +05/12 11:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:11:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.1ms, total=122.1ms [env.py: 1075] +05/12 11:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.882, 1.052, 0.096) [env.py: 1079] +05/12 11:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.5 deg [env.py: 1082] +05/12 11:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m [env.py: 1086] +05/12 11:11:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:11:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:11:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:11:34 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 11:11:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/12 11:11:34 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 11:11:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:11:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:11:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.885s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:11:38 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.629[m] 95.812[deg] [grasp_sample.py: 539] +05/12 11:11:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:11:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:11:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:12:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:12:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:12:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:12:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:12:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:12:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:12:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:12:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:12:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:12:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:12:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:12:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:12:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:12:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:12:19 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 11:12:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:12:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:12:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:12:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:12:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:12:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:12:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 28.237s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:12:47 INFO: [Worker 0] Feasible grasp found 184 (originally 69): w/ 0.356[m] 22.204[deg] [grasp_sample.py: 539] +05/12 11:12:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:12:49 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:12:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:12:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:12:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:12:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:12:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:12:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:12:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:12:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:12:50 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 11:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000487m [env.py: 870] +05/12 11:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:12:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-9.24619856e-01 7.99859964e-01 4.87375929e-04] yaw=-164.2deg [env.py: 1019] +05/12 11:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-7.56092781e-01 6.36836319e-01 4.87375929e-04] yaw=-166.5deg [env.py: 1019] +05/12 11:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:12:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=185.9ms, total=186.0ms [env.py: 1075] +05/12 11:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.800, 0.000) [env.py: 1079] +05/12 11:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg [env.py: 1082] +05/12 11:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/12 11:12:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:12:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:12:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:12:51 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 11:12:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 11:12:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:12:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:12:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:12:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.815s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:12:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.379[m] 77.063[deg] [grasp_sample.py: 539] +05/12 11:12:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:12:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:12:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:13:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:13:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:13:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:13:40 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:13:48 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:13:53 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:14:06 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:14:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:14:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:14:12 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:14:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:14:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:14:21 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:14:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:14:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:14:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:14:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:14:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.96s (batch: 3.88s, save: 12.09s) [pipeline.py: 300] +05/12 11:14:23 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.50s: + episode_total: mean=185.49s, total=185.49s, count=1, min=185487.9ms, max=185487.9ms + sensor_polling: mean=434.2ms, total=130.25s, count=300, min=374.4ms, max=994.6ms + save_trajectories: mean=12.09s, total=12.09s, count=1, min=12086.2ms, max=12086.2ms + physics_step: mean=25.8ms, total=7.75s, count=300, min=21.5ms, max=33.7ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3878.7ms, max=3878.7ms + task_sampling: mean=499.1ms, total=499.1ms, count=1, min=499.1ms, max=499.1ms + task_specific_sample: mean=495.2ms, total=495.2ms, count=1, min=495.2ms, max=495.2ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=451.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:14:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:14:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:14:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:14:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:14:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:14:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:14:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:14:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:14:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:14:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:14:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005736m [env.py: 870] +05/12 11:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:14:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87453946 0.66658966 0.00573587] yaw=-128.7deg [env.py: 1019] +05/12 11:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71466778 0.71426651 0.00573587] yaw=-153.2deg [env.py: 1019] +05/12 11:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:14:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.9ms, total=214.0ms [env.py: 1075] +05/12 11:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.667, 0.006) [env.py: 1079] +05/12 11:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.7 deg [env.py: 1082] +05/12 11:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m [env.py: 1086] +05/12 11:14:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:14:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:14:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:14:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:14:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:14:25 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 11:14:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 11:14:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:14:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:14:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:14:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.928s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:14:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.558[m] 95.090[deg] [grasp_sample.py: 539] +05/12 11:14:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:14:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:14:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:14:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:14:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:14:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:14:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.58s (batch: 3.51s, save: 11.07s) [pipeline.py: 300] +05/12 11:14:28 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.51s: + episode_total: mean=193.43s, total=193.43s, count=1, min=193432.2ms, max=193432.2ms + sensor_polling: mean=468.2ms, total=140.47s, count=300, min=394.7ms, max=968.9ms + save_trajectories: mean=11.07s, total=11.07s, count=1, min=11065.6ms, max=11065.6ms + physics_step: mean=27.7ms, total=8.31s, count=300, min=17.0ms, max=37.0ms + save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3514.5ms, max=3514.5ms + task_sampling: mean=509.7ms, total=509.7ms, count=1, min=509.7ms, max=509.7ms + task_specific_sample: mean=505.3ms, total=505.3ms, count=1, min=505.3ms, max=505.3ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=449.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:14:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:14:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:14:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:14:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:14:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:14:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:14:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:14:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:14:29 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 11:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022921m [env.py: 870] +05/12 11:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:14:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93189706 0.23855077 0.02292088] yaw=172.4deg [env.py: 1019] +05/12 11:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7717342 1.04040049 0.02292088] yaw=-161.9deg [env.py: 1019] +05/12 11:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74395424 0.26618124 0.02292088] yaw=179.1deg [env.py: 1019] +05/12 11:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:14:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.6ms, total=162.6ms [env.py: 1075] +05/12 11:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.239, 0.023) [env.py: 1079] +05/12 11:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.4 deg [env.py: 1082] +05/12 11:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/12 11:14:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:14:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:14:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:14:29 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 11:14:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 11:14:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:14:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:14:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:14:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.918s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:14:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.358[m] 85.375[deg] [grasp_sample.py: 539] +05/12 11:14:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:14:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:14:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:14:31 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 11:14:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:14:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:14:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.38s (batch: 4.31s, save: 11.06s) [pipeline.py: 300] +05/12 11:14:37 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s: + episode_total: mean=184.28s, total=184.28s, count=1, min=184278.0ms, max=184278.0ms + sensor_polling: mean=417.0ms, total=125.09s, count=300, min=385.9ms, max=947.3ms + save_trajectories: mean=11.06s, total=11.06s, count=1, min=11063.9ms, max=11063.9ms + physics_step: mean=23.2ms, total=6.96s, count=300, min=16.9ms, max=34.9ms + save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4311.6ms, max=4311.6ms + task_sampling: mean=426.6ms, total=426.6ms, count=1, min=426.6ms, max=426.6ms + task_specific_sample: mean=422.5ms, total=422.5ms, count=1, min=422.5ms, max=422.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=454.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:14:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:14:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:14:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:14:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:14:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:14:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:14:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:14:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:14:39 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 11:14:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:14:39 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 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054645m [env.py: 870] +05/12 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:14:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81017193 0.11480537 0.05464533] yaw=167.2deg [env.py: 1019] +05/12 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82978473 0.97748474 0.05464533] yaw=-177.6deg [env.py: 1019] +05/12 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.13376775 1.02700839 0.05464533] yaw=-114.6deg [env.py: 1019] +05/12 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:14:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=239.7ms, total=239.7ms [env.py: 1075] +05/12 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.810, 0.115, 0.055) [env.py: 1079] +05/12 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.2 deg [env.py: 1082] +05/12 11:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m [env.py: 1086] +05/12 11:14:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:14:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:14:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:14:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:14:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:14:39 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 11:14:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/12 11:14:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:14:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:14:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:14:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.974s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:14:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.541[m] 90.193[deg] [grasp_sample.py: 539] +05/12 11:14:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:14:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:14:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:14:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:15:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:15:08 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:15:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:15:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:15:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:15:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:15:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:15:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:15:34 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:15:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:15:34 INFO: [Worker 0] Preparing episode data: 296 timesteps [save_utils.py: 278] +05/12 11:15:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:15:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:15:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:15:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:15:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.09s (batch: 3.72s, save: 10.38s) [pipeline.py: 300] +05/12 11:15:48 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.35s: + episode_total: mean=140.54s, total=421.61s, count=3, min=96985.2ms, max=178099.3ms + sensor_polling: mean=425.8ms, total=296.77s, count=697, min=397.6ms, max=1065.6ms + physics_step: mean=23.2ms, total=16.14s, count=697, min=16.6ms, max=34.9ms + save_trajectories: mean=10.38s, total=10.38s, count=1, min=10376.6ms, max=10376.6ms + save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3716.6ms, max=3716.6ms + task_sampling: mean=451.3ms, total=1.35s, count=3, min=400.1ms, max=495.1ms + task_specific_sample: mean=447.4ms, total=1.34s, count=3, min=396.2ms, max=491.1ms + scene_randomize: mean=1.9ms, total=5.7ms, count=3, min=1.2ms, max=2.6ms + mj_forward_sync: mean=467.8us, total=1.4ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=20.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:15:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:15:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:15:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:15:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:15:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:15:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:15:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:15:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:15:50 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 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013537m [env.py: 870] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:15:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90523365 0.68841664 0.01353665] yaw=-148.2deg [env.py: 1019] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 126.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78070442 1.03362989 0.01353665] yaw=-136.2deg [env.py: 1019] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.941861 0.41208052 0.01353665] yaw=158.8deg [env.py: 1019] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:15:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.4ms, total=188.5ms [env.py: 1075] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.905, 0.688, 0.014) [env.py: 1079] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg [env.py: 1082] +05/12 11:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m [env.py: 1086] +05/12 11:15:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:15:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:15:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:15:50 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 11:15:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 11:15:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:15:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:15:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:15:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.900s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:15:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.422[m] 84.830[deg] [grasp_sample.py: 539] +05/12 11:15:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:15:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:15:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:15:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:15:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:15:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:15:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:16:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:16:08 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 11:16:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:16:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 11:16:08 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.771s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:16:08 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.144[deg] [grasp_sample.py: 539] +05/12 11:16:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:16:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:16:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:16:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:16:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:16:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:16:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:16:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 11:16:25 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.825s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:16:25 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.042[m] 1.319[deg] [grasp_sample.py: 539] +05/12 11:16:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:16:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:16:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:16:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:16:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:16:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:38 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:16:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:16:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:16:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:16:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:16:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:16:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:17:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:17:03 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 11:17:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:17:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 11:17:04 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.635s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:17:04 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.801[deg] [grasp_sample.py: 539] +05/12 11:17:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:17:05 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:17:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:17:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:17:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:17:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:17:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:17:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:17:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.56s (batch: 4.06s, save: 10.50s) [pipeline.py: 300] +05/12 11:17:20 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.52s: + episode_total: mean=175.94s, total=175.94s, count=1, min=175941.0ms, max=175941.0ms + sensor_polling: mean=407.7ms, total=122.31s, count=300, min=367.1ms, max=978.7ms + save_trajectories: mean=10.50s, total=10.50s, count=1, min=10504.7ms, max=10504.7ms + physics_step: mean=25.2ms, total=7.57s, count=300, min=16.8ms, max=35.5ms + save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.6ms, max=4058.6ms + task_sampling: mean=523.7ms, total=523.7ms, count=1, min=523.7ms, max=523.7ms + task_specific_sample: mean=519.4ms, total=519.4ms, count=1, min=519.4ms, max=519.4ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=469.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:17:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:17:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:17:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:17:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:17:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:17:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:17:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:17:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:17:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:17:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084858m [env.py: 870] +05/12 11:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:17:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66567198 0.17442545 0.0848581 ] yaw=175.8deg [env.py: 1019] +05/12 11:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94776358 0.58049872 0.0848581 ] yaw=-150.9deg [env.py: 1019] +05/12 11:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.63769444 0.41030681 0.0848581 ] yaw=155.7deg [env.py: 1019] +05/12 11:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:17:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.5ms, total=199.5ms [env.py: 1075] +05/12 11:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.666, 0.174, 0.085) [env.py: 1079] +05/12 11:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.8 deg [env.py: 1082] +05/12 11:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m [env.py: 1086] +05/12 11:17:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:17:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:17:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:17:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:17:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:17:22 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 11:17:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/12 11:17:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:17:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:17:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:17:23 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:17:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.264s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:17:24 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.637[m] 91.167[deg] [grasp_sample.py: 539] +05/12 11:17:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:17:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:17:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:17:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:17:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:51 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:17:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:17:51 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:17:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:17:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:17:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:17:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:17:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/12 11:18:00 INFO: [Worker 0] Feasibility-checked 70 grasps in 3.338s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:18:00 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.054[m] 8.782[deg] [grasp_sample.py: 539] +05/12 11:18:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:18:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:18:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:18:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:18:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:18:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:18:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.01s (batch: 4.11s, save: 10.90s) [pipeline.py: 300] +05/12 11:18:07 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.54s: + episode_total: mean=208.16s, total=208.16s, count=1, min=208160.2ms, max=208160.2ms + sensor_polling: mean=434.6ms, total=130.37s, count=300, min=399.2ms, max=1022.8ms + save_trajectories: mean=10.90s, total=10.90s, count=1, min=10895.8ms, max=10895.8ms + physics_step: mean=24.6ms, total=7.37s, count=300, min=15.1ms, max=39.0ms + save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4113.6ms, max=4113.6ms + task_sampling: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms + task_specific_sample: mean=534.3ms, total=534.3ms, count=1, min=534.3ms, max=534.3ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=464.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.9us, 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 11:18:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:18:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:18:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:18:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:18:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:18:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:18:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:18:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:18:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030867m [env.py: 870] +05/12 11:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:18:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:18:08 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03066939 1.04405726 0.03086697] yaw=-127.7deg [env.py: 1019] +05/12 11:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75171944 0.24268582 0.03086697] yaw=150.2deg [env.py: 1019] +05/12 11:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:18:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.8ms, total=222.8ms [env.py: 1075] +05/12 11:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.031, 1.044, 0.031) [env.py: 1079] +05/12 11:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.7 deg [env.py: 1082] +05/12 11:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/12 11:18:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:18:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:18:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:18:09 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 11:18:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/12 11:18:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:18:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:18:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:18:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.068s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:18:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.438[m] 86.652[deg] [grasp_sample.py: 539] +05/12 11:18:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:18:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:18:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:18:11 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:18:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:18:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:18:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:18:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:18:35 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:18:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:18:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:18:40 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:18:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:18:40 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:18:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:18:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:18:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:18:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.58s (batch: 3.68s, save: 10.90s) [pipeline.py: 300] +05/12 11:18:50 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.47s: + episode_total: mean=260.82s, total=260.82s, count=1, min=260815.6ms, max=260815.6ms + sensor_polling: mean=440.0ms, total=132.01s, count=300, min=391.3ms, max=981.2ms + save_trajectories: mean=10.90s, total=10.90s, count=1, min=10897.9ms, max=10897.9ms + physics_step: mean=25.9ms, total=7.77s, count=300, min=15.1ms, max=40.0ms + save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3679.4ms, max=3679.4ms + task_sampling: mean=469.9ms, total=469.9ms, count=1, min=469.9ms, max=469.9ms + task_specific_sample: mean=465.7ms, total=465.7ms, count=1, min=465.7ms, max=465.7ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=466.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:18:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:18:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:18:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:18:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:18:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:18:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:18:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:18:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:18:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058069m [env.py: 870] +05/12 11:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:18:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04073396 0.93000537 0.05806943] yaw=-109.1deg [env.py: 1019] +05/12 11:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9310752 0.45611658 0.05806943] yaw=160.6deg [env.py: 1019] +05/12 11:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9002622 0.98240465 0.05806943] yaw=-170.4deg [env.py: 1019] +05/12 11:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:18:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=133.4ms, total=133.4ms [env.py: 1075] +05/12 11:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.041, 0.930, 0.058) [env.py: 1079] +05/12 11:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -109.1 deg [env.py: 1082] +05/12 11:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.799m [env.py: 1086] +05/12 11:18:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:18:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:18:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:18:52 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 11:18:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 11:18:52 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 11:18:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:18:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:18:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.977s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:18:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.432[m] 93.069[deg] [grasp_sample.py: 539] +05/12 11:18:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:18:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:18:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:18:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:18:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:18:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.18s (batch: 3.79s, save: 11.39s) [pipeline.py: 300] +05/12 11:18:56 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.51s: + episode_total: mean=185.82s, total=185.82s, count=1, min=185815.1ms, max=185815.1ms + sensor_polling: mean=430.1ms, total=129.03s, count=300, min=403.2ms, max=1011.2ms + save_trajectories: mean=11.39s, total=11.39s, count=1, min=11390.9ms, max=11390.9ms + physics_step: mean=23.6ms, total=7.08s, count=300, min=16.7ms, max=31.9ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3791.5ms, max=3791.5ms + task_sampling: mean=505.1ms, total=505.1ms, count=1, min=505.1ms, max=505.1ms + task_specific_sample: mean=500.8ms, total=500.8ms, count=1, min=500.8ms, max=500.8ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=465.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:18:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:18:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:18:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:18:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:18:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:18:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:18:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:18:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:18:57 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 11:18:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:18:57 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 11:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067330m [env.py: 870] +05/12 11:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:18:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97146174 0.20272719 0.06733023] yaw=155.3deg [env.py: 1019] +05/12 11:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85433398 0.16734823 0.06733023] yaw=140.1deg [env.py: 1019] +05/12 11:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10171097 1.02868512 0.06733023] yaw=-106.3deg [env.py: 1019] +05/12 11:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:18:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=356.0ms, total=356.1ms [env.py: 1075] +05/12 11:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.971, 0.203, 0.067) [env.py: 1079] +05/12 11:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.3 deg [env.py: 1082] +05/12 11:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m [env.py: 1086] +05/12 11:18:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:18:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:18:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:18:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:18:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:18:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:18:58 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 11:18:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 11:18:58 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 11:18:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:18:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:18:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.783s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:18:59 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.345[m] 93.840[deg] [grasp_sample.py: 539] +05/12 11:18:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:18:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:18:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:19:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:19:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:19:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:19:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:19:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:19:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:19:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:19:45 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:19:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:20:12 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:20:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:20:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:20:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:20:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.44s (batch: 3.84s, save: 10.61s) [pipeline.py: 300] +05/12 11:20:27 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.52s: + episode_total: mean=185.85s, total=185.85s, count=1, min=185852.9ms, max=185852.9ms + sensor_polling: mean=431.2ms, total=129.37s, count=300, min=373.6ms, max=996.3ms + save_trajectories: mean=10.61s, total=10.61s, count=1, min=10605.1ms, max=10605.1ms + physics_step: mean=26.4ms, total=7.93s, count=300, min=16.8ms, max=70.4ms + save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3835.9ms, max=3835.9ms + task_sampling: mean=515.1ms, total=515.1ms, count=1, min=515.1ms, max=515.1ms + task_specific_sample: mean=511.1ms, total=511.1ms, count=1, min=511.1ms, max=511.1ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=455.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.9us, 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 11:20:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:20:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:20:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:20:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:20:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 11:20:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:28 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.702s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:20:28 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.238[deg] [grasp_sample.py: 539] +05/12 11:20:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:20:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:20:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:20:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:20:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:20:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:20:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082144m [env.py: 870] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:20:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0194046 0.97128351 0.08214417] yaw=-127.0deg [env.py: 1019] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6564744 0.32717126 0.08214417] yaw=165.4deg [env.py: 1019] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00581317 0.91602957 0.08214417] yaw=-125.4deg [env.py: 1019] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:20:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.8ms, total=188.8ms [env.py: 1075] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.019, 0.971, 0.082) [env.py: 1079] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.0 deg [env.py: 1082] +05/12 11:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/12 11:20:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:20:29 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 11:20:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 11:20:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:20:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:20:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:20:30 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:20:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.114s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:20:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 89.296[deg] [grasp_sample.py: 539] +05/12 11:20:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:20:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:20:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:20:31 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 11:20:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:20:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:20:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:20:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:20:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:20:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:20:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052617m [env.py: 870] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:20:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90143765 0.76494042 0.05261679] yaw=-182.2deg [env.py: 1019] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83432248 0.64960752 0.05261679] yaw=-157.6deg [env.py: 1019] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7701167 1.02507708 0.05261679] yaw=-137.7deg [env.py: 1019] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:20:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.4ms, total=132.5ms [env.py: 1075] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.765, 0.053) [env.py: 1079] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.2 deg [env.py: 1082] +05/12 11:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/12 11:20:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:20:32 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 11:20:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 11:20:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:20:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:20:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:20:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.982s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:20:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.429[m] 84.266[deg] [grasp_sample.py: 539] +05/12 11:20:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:20:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:20:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:20:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:20:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:20:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:20:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 11:20:38 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.571s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:20:38 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.112[m] 8.898[deg] [grasp_sample.py: 539] +05/12 11:20:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:20:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:20:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:20:43 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:21:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:21:11 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:21:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:21:11 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:21:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:21:14 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:21:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:21:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:21:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:21:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:21:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:21:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:21:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.05s (batch: 4.55s, save: 11.51s) [pipeline.py: 300] +05/12 11:21:28 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.53s: + episode_total: mean=199.78s, total=199.78s, count=1, min=199783.5ms, max=199783.5ms + sensor_polling: mean=431.6ms, total=129.47s, count=300, min=392.0ms, max=1015.9ms + save_trajectories: mean=11.51s, total=11.51s, count=1, min=11505.3ms, max=11505.3ms + physics_step: mean=25.2ms, total=7.55s, count=300, min=21.5ms, max=34.6ms + save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4546.9ms, max=4546.9ms + task_sampling: mean=530.1ms, total=530.1ms, count=1, min=530.1ms, max=530.1ms + task_specific_sample: mean=526.0ms, total=526.0ms, count=1, min=526.0ms, max=526.0ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=452.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=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 11:21:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:21:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:21:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:21:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:21:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:21:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:21:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:21:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:21:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005141m [env.py: 870] +05/12 11:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:21:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07475331 1.12039993 0.00514102] yaw=-104.9deg [env.py: 1019] +05/12 11:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89376444 0.37702644 0.00514102] yaw=151.9deg [env.py: 1019] +05/12 11:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:21:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=225.5ms, total=225.6ms [env.py: 1075] +05/12 11:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.075, 1.120, 0.005) [env.py: 1079] +05/12 11:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.9 deg [env.py: 1082] +05/12 11:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/12 11:21:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:21:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:21:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:21:30 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 11:21:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 11:21:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:21:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:21:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:21:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.541s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:21:37 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.536[m] 98.495[deg] [grasp_sample.py: 539] +05/12 11:21:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:21:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:21:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:21:40 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:21:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:21:40 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:21:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:21:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:21:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.56s (batch: 3.59s, save: 10.97s) [pipeline.py: 300] +05/12 11:21:55 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.43s: + episode_total: mean=184.20s, total=184.20s, count=1, min=184203.4ms, max=184203.4ms + sensor_polling: mean=434.5ms, total=130.35s, count=300, min=387.1ms, max=992.2ms + save_trajectories: mean=10.97s, total=10.97s, count=1, min=10972.5ms, max=10972.5ms + physics_step: mean=26.0ms, total=7.80s, count=300, min=21.8ms, max=33.9ms + save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3585.3ms, max=3585.3ms + task_sampling: mean=434.7ms, total=434.7ms, count=1, min=434.7ms, max=434.7ms + task_specific_sample: mean=430.4ms, total=430.4ms, count=1, min=430.4ms, max=430.4ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=463.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:21:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:21:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:21:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:21:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:21:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:21:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:21:57 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 11:21:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:21:57 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 11:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023215m [env.py: 870] +05/12 11:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:21:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 128.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75657646 0.99149858 0.02321492] yaw=-125.8deg [env.py: 1019] +05/12 11:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:21:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.3ms, total=218.3ms [env.py: 1075] +05/12 11:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.991, 0.023) [env.py: 1079] +05/12 11:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.8 deg [env.py: 1082] +05/12 11:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/12 11:21:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:21:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:21:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:21:57 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 11:21:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 11:21:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:21:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:21:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:22:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.187s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:22:03 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.720[m] 100.477[deg] [grasp_sample.py: 539] +05/12 11:22:04 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:22:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:22:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:22:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:22:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:22:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:22:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:22:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:22:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:22:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002400m [env.py: 870] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:22:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89524788 0.73716499 0.0024 ] yaw=-171.0deg [env.py: 1019] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98988899 1.09903641 0.0024 ] yaw=-151.2deg [env.py: 1019] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.17117789 1.11704885 0.0024 ] yaw=-130.9deg [env.py: 1019] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:22:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=193.3ms, total=193.4ms [env.py: 1075] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.895, 0.737, 0.002) [env.py: 1079] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.0 deg [env.py: 1082] +05/12 11:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m [env.py: 1086] +05/12 11:22:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:22:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:22:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:22:06 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 11:22:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/12 11:22:06 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 11:22:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:22:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:22:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.849s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:22:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.445[m] 97.427[deg] [grasp_sample.py: 539] +05/12 11:22:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:22:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:22:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:22:08 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 11:22:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:22:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:22:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:22:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:22:47 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:22:54 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:22:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:22:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:23:16 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:23:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:23:16 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:23:22 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:23:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:23:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:23:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:23:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:23:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.15s (batch: 3.49s, save: 11.66s) [pipeline.py: 300] +05/12 11:23:32 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.51s: + episode_total: mean=182.77s, total=182.77s, count=1, min=182772.7ms, max=182772.7ms + sensor_polling: mean=418.9ms, total=125.66s, count=300, min=368.5ms, max=1036.7ms + save_trajectories: mean=11.66s, total=11.66s, count=1, min=11657.1ms, max=11657.1ms + physics_step: mean=25.8ms, total=7.74s, count=300, min=16.8ms, max=104.4ms + save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3489.5ms, max=3489.5ms + task_sampling: mean=514.5ms, total=514.5ms, count=1, min=514.5ms, max=514.5ms + task_specific_sample: mean=510.1ms, total=510.1ms, count=1, min=510.1ms, max=510.1ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=463.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:23:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:23:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:23:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:23:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:23:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:23:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:23:33 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 11:23:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:23:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044196m [env.py: 870] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:23:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75111913 0.26455224 0.04419639] yaw=203.0deg [env.py: 1019] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9717558 0.25452477 0.04419639] yaw=179.1deg [env.py: 1019] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:23:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.7ms, total=222.7ms [env.py: 1075] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.265, 0.044) [env.py: 1079] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 203.0 deg [env.py: 1082] +05/12 11:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m [env.py: 1086] +05/12 11:23:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:23:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:23:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:23:34 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 11:23:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 11:23:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:23:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:23:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:23:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.077s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:23:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.665[m] 88.629[deg] [grasp_sample.py: 539] +05/12 11:23:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:23:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:23:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:23:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:23:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:23:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 11:23:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.31s (batch: 3.81s, save: 10.50s) [pipeline.py: 300] +05/12 11:23:37 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.08s: + episode_total: mean=138.74s, total=277.47s, count=2, min=92534.5ms, max=184937.3ms + sensor_polling: mean=438.4ms, total=203.85s, count=465, min=403.8ms, max=1084.1ms + physics_step: mean=24.4ms, total=11.33s, count=465, min=16.7ms, max=38.1ms + save_trajectories: mean=10.50s, total=10.50s, count=1, min=10501.9ms, max=10501.9ms + save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3811.1ms, max=3811.1ms + task_sampling: mean=538.6ms, total=1.08s, count=2, min=401.9ms, max=675.2ms + task_specific_sample: mean=533.7ms, total=1.07s, count=2, min=396.2ms, max=671.2ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.0ms, max=2.6ms + mj_forward_sync: mean=454.0us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=18.3us, 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 11:23:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:23:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:23:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:23:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:23:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:23:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 11:23:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 11:23:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 11:23:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035546m [env.py: 870] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 11:23:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90238249 0.53605047 0.035546 ] yaw=-198.6deg [env.py: 1019] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93173054 0.57586744 0.035546 ] yaw=-201.8deg [env.py: 1019] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97486591 0.86131419 0.035546 ] yaw=-117.0deg [env.py: 1019] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:23:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.5ms, total=134.6ms [env.py: 1075] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.902, 0.536, 0.036) [env.py: 1079] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -198.6 deg [env.py: 1082] +05/12 11:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/12 11:23:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:23:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:23:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 11:23:39 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 11:23:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 11:23:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:23:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:23:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 11:23:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.789s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:23:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.402[m] 82.862[deg] [grasp_sample.py: 539] +05/12 11:23:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:23:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:23:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:23:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:23:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:23:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:23:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:23:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 11:23:54 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.679s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:23:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.106[m] 0.831[deg] [grasp_sample.py: 539] +05/12 11:23:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:23:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:23:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:08 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:24:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:24:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:31 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 11:24:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:37 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 11:24:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:24:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] diff --git a/fridge_m_0.7_pd/chunk_012/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_012/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3939a63c92e01cb626f6bc1e891332236de8aeca --- /dev/null +++ b/fridge_m_0.7_pd/chunk_012/trajectories_batch_1_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7240fd32c440bd2b3de76ab19efc88fd602cd49340af598d9409c25d319dc024 +size 629076212 diff --git a/fridge_m_0.7_pd/chunk_012/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_012/trajectories_batch_2_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ad5b531d907ef766dc2bb711c357ecf1870a7906 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_012/trajectories_batch_2_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9451fa7ffb46294b57a67f663c95bbb8c9bccc9195e92e17d0821c9657281d74 +size 792373406 diff --git a/fridge_m_0.7_pd/chunk_012/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_012/trajectories_batch_3_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fe2f6fb34279799b3355b132ebf820d040fdc94a --- /dev/null +++ b/fridge_m_0.7_pd/chunk_012/trajectories_batch_3_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7dea0e9e3c1e23f7f20792f48a1c903732c1cdeb2ad570ffd34e0d7c67d7305 +size 654856945 diff --git a/fridge_m_0.7_pd/chunk_012/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_012/trajectories_batch_4_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d55bec2ddd80e163fe49851d616985f8246629bb --- /dev/null +++ b/fridge_m_0.7_pd/chunk_012/trajectories_batch_4_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b12c8a479a173e724edad720d65618cb0bcaa10a2a19fa69e499cbcb97549bc +size 791051485