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b/fridge_m_0.7_pd/chunk_009/episode_00000013_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b64bbc41389636153062eb595b9378b65200c5c4667179d08a97eeca0b0a300 +size 127809 diff --git a/fridge_m_0.7_pd/chunk_009/episode_00000013_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_009/episode_00000013_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..62635326b803ed644d45fd6623769b04b8d758a6 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_009/episode_00000013_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1253f87a967d8f937b31dd1b0794673137aa4fbd99baabbf8ec34c515b93f81 +size 472462 diff --git a/fridge_m_0.7_pd/chunk_009/running_log.log b/fridge_m_0.7_pd/chunk_009/running_log.log index 304e6cace3e4796fc7f64b5cac9f7ce3e522513f..08f42ceff4a3f95fe6c4347058223879582d8cca 100644 --- a/fridge_m_0.7_pd/chunk_009/running_log.log +++ b/fridge_m_0.7_pd/chunk_009/running_log.log @@ -3624,3 +3624,2675 @@ 05/12 08:24:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] 05/12 08:24:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] 05/12 08:24:52 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 08:25:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:25:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:25:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:25:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:25:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:25:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:25:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:25:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:25:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:25:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:25:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:25:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:25:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:25:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:25:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:25:54 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 08:25:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:25:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 08:25:54 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.741s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:25:54 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.306[deg] [grasp_sample.py: 539] +05/12 08:25:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:25:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:25:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:25:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:25:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:26:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:26:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:26:09 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 08:26:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:26:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 08:26:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:26:10 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:26:10 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.730s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:26:10 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.473[deg] [grasp_sample.py: 539] +05/12 08:26:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:26:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:26:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:26:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:26:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:26:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:26:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:26:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:35 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:26:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:26:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:26:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:26:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:26:48 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 08:26:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:26:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 08:26:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:50 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.929s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:26:50 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 4.019[deg] [grasp_sample.py: 539] +05/12 08:26:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:26:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:26:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.97s (batch: 3.57s, save: 11.41s) [pipeline.py: 300] +05/12 08:26:51 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.50s: + episode_total: mean=225.79s, total=225.79s, count=1, min=225787.7ms, max=225787.7ms + sensor_polling: mean=464.0ms, total=139.21s, count=300, min=395.9ms, max=1203.2ms + save_trajectories: mean=11.41s, total=11.41s, count=1, min=11406.6ms, max=11406.6ms + physics_step: mean=26.2ms, total=7.85s, count=300, min=18.2ms, max=37.6ms + save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3567.8ms, max=3567.8ms + task_sampling: mean=497.4ms, total=497.4ms, count=1, min=497.4ms, max=497.4ms + task_specific_sample: mean=491.3ms, total=491.3ms, count=1, min=491.3ms, max=491.3ms + scene_randomize: mean=4.7ms, total=4.7ms, count=1, min=4.7ms, max=4.7ms + mj_forward_sync: mean=468.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:26:51 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:26:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:26:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:26:52 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 08:26:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:26:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017269m [env.py: 870] +05/12 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:26:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08020629 1.25556855 0.01726863] yaw=-152.7deg [env.py: 1019] +05/12 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:26:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:26:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:26:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:26:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:26:53 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 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034935m [env.py: 870] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:26:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00959811 0.98096377 0.03493502] yaw=-136.3deg [env.py: 1019] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74443442 0.27618634 0.03493502] yaw=165.9deg [env.py: 1019] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:26:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:26:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:26:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:26:53 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 08:26:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:26:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=395.8ms, total=395.8ms [env.py: 1075] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.010, 0.981, 0.035) [env.py: 1079] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.3 deg [env.py: 1082] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m [env.py: 1086] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81561431 0.39737867 0.01726863] yaw=134.7deg [env.py: 1019] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.76569377 0.23633547 0.01726863] yaw=185.2deg [env.py: 1019] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:26:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=759.8ms, total=759.9ms [env.py: 1075] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.080, 1.256, 0.017) [env.py: 1079] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.7 deg [env.py: 1082] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m [env.py: 1086] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.158s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 08:26:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:26:53 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 08:26:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 08:26:53 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 08:26:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:26:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:26:53 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 08:26:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:26:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 08:26:53 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 08:26:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:26:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:26:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.350s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:26:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.480[m] 100.824[deg] [grasp_sample.py: 539] +05/12 08:26:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:26:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:26:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:26:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.323s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:26:55 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 4.340[deg] [grasp_sample.py: 539] +05/12 08:26:56 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 08:26:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.777s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:26:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.630[m] 87.612[deg] [grasp_sample.py: 539] +05/12 08:26:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:26:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:26:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:26:57 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:26:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:26:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:26:59 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 08:26:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:26:59 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 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079763m [env.py: 870] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:26:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72830339 0.41376604 0.0797631 ] yaw=212.1deg [env.py: 1019] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75408072 1.00551388 0.0797631 ] yaw=-124.4deg [env.py: 1019] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:26:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=321.4ms, total=321.5ms [env.py: 1075] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.728, 0.414, 0.080) [env.py: 1079] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 212.1 deg [env.py: 1082] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m [env.py: 1086] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:26:59 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 08:26:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/12 08:26:59 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 08:26:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:27:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:27:03 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:27:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.358s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:27:04 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.657[m] 92.458[deg] [grasp_sample.py: 539] +05/12 08:27:05 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:27:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:27:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:27:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:27:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:27:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:27:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:27:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:27:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:27:07 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 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031491m [env.py: 870] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:27:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00087226 0.82737138 0.03149084] yaw=-117.4deg [env.py: 1019] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71500878 0.36234436 0.03149084] yaw=170.3deg [env.py: 1019] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.62264442 0.45450189 0.03149084] yaw=198.4deg [env.py: 1019] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:27:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.7ms, total=204.7ms [env.py: 1075] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.827, 0.031) [env.py: 1079] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -117.4 deg [env.py: 1082] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m [env.py: 1086] +05/12 08:27:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:27:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:27:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:27:08 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 08:27:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 08:27:08 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 08:27:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:27:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:27:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.857s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:27:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.452[m] 87.119[deg] [grasp_sample.py: 539] +05/12 08:27:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:27:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:27:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:27:31 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:27:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:27:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:27:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:27:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:27:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:27:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.36s (batch: 3.69s, save: 11.66s) [pipeline.py: 300] +05/12 08:27:47 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.59s: + episode_total: mean=178.83s, total=178.83s, count=1, min=178830.5ms, max=178830.5ms + sensor_polling: mean=408.0ms, total=122.41s, count=300, min=363.1ms, max=900.2ms + save_trajectories: mean=11.66s, total=11.66s, count=1, min=11662.4ms, max=11662.4ms + physics_step: mean=25.3ms, total=7.58s, count=300, min=19.7ms, max=66.2ms + save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3695.0ms, max=3695.0ms + task_sampling: mean=586.7ms, total=586.7ms, count=1, min=586.7ms, max=586.7ms + task_specific_sample: mean=581.9ms, total=581.9ms, count=1, min=581.9ms, max=581.9ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=614.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=36.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:27:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:27:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:27:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:27:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:27:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:27:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:27:49 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 08:27:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:27:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009438m [env.py: 870] +05/12 08:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:27:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66155027 0.50718168 0.00943769] yaw=-210.6deg [env.py: 1019] +05/12 08:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77054017 0.60133059 0.00943769] yaw=-134.5deg [env.py: 1019] +05/12 08:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87129803 0.56500686 0.00943769] yaw=-139.7deg [env.py: 1019] +05/12 08:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:27:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=89.2ms, total=89.3ms [env.py: 1075] +05/12 08:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.507, 0.009) [env.py: 1079] +05/12 08:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -210.6 deg [env.py: 1082] +05/12 08:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/12 08:27:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:27:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:27:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:27:49 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 08:27:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/12 08:27:49 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 08:27:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:27:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:27:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.088s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:27:51 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.675[m] 87.609[deg] [grasp_sample.py: 539] +05/12 08:27:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:27:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:27:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:27:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:27:52 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 08:27:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:27:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:27:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:28:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:28:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:28:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:28:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:28:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:28:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:28:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:28:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:28:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:28:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:28:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:28:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:28:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:28:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:28:58 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 08:28:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:28:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 08:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:29:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:29:00 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.783s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:29:00 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.294[deg] [grasp_sample.py: 539] +05/12 08:29:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:29:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:29:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:29:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:29:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:29:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:29:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:29:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:29:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:29:08 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 08:29:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:29:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:29:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:29:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.233s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:29:12 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.075[m] 2.542[deg] [grasp_sample.py: 539] +05/12 08:29:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:29:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:29:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:29:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:29:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:29:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:29:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:29:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:29:33 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:29:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:29:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:29:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:29:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:29:41 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:29:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:29:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:29:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:29:47 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 08:29:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:29:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 08:29:50 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.763s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:29:50 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.524[deg] [grasp_sample.py: 539] +05/12 08:29:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:29:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:29:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:30:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:30:02 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:30:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:30:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:30:05 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 08:30:05 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=False episode_total=1.07s: + episode_total: mean=192.49s, total=192.49s, count=1, min=192485.4ms, max=192485.4ms + sensor_polling: mean=495.3ms, total=148.59s, count=300, min=406.2ms, max=1028.2ms + physics_step: mean=29.0ms, total=8.69s, count=300, min=21.4ms, max=66.3ms + task_sampling: mean=1.07s, total=1.07s, count=1, min=1068.5ms, max=1068.5ms + task_specific_sample: mean=1.06s, total=1.06s, count=1, min=1064.7ms, max=1064.7ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=462.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.4us, 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 08:30:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:30:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:30:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:30:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:30:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:30:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:30:06 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 08:30:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:30:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074616m [env.py: 870] +05/12 08:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:30:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75815108 0.74167371 0.07461563] yaw=-186.7deg [env.py: 1019] +05/12 08:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98163411 1.22663378 0.07461563] yaw=-148.8deg [env.py: 1019] +05/12 08:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:30:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=254.5ms, total=254.5ms [env.py: 1075] +05/12 08:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.758, 0.742, 0.075) [env.py: 1079] +05/12 08:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.7 deg [env.py: 1082] +05/12 08:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/12 08:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:30:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:30:07 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 08:30:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/12 08:30:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:30:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:30:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:30:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.138s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:30:08 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.571[m] 87.711[deg] [grasp_sample.py: 539] +05/12 08:30:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:30:09 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:30:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 08:30:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:30:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:30:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:30:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:30:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:30:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 16.69s (batch: 4.22s, save: 12.47s) [pipeline.py: 300] +05/12 08:30:19 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.20s: + episode_total: mean=196.63s, total=393.27s, count=2, min=186677.1ms, max=206591.7ms + sensor_polling: mean=473.7ms, total=277.12s, count=585, min=393.9ms, max=991.0ms + physics_step: mean=28.9ms, total=16.88s, count=585, min=15.4ms, max=60.6ms + save_trajectories: mean=12.47s, total=12.47s, count=1, min=12470.9ms, max=12470.9ms + save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4216.2ms, max=4216.2ms + task_sampling: mean=602.3ms, total=1.20s, count=2, min=524.3ms, max=680.3ms + task_specific_sample: mean=598.0ms, total=1.20s, count=2, min=519.4ms, max=676.5ms + scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=1.7ms, max=3.2ms + mj_forward_sync: mean=598.7us, total=1.2ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=16.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:30:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:30:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:30:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:30:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:30:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:30:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:30:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:30:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:30:20 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 08:30:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:30:20 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 08:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067225m [env.py: 870] +05/12 08:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:30:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78677647 0.51867171 0.06722488] yaw=-185.1deg [env.py: 1019] +05/12 08:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.08012262 1.20032831 0.06722488] yaw=-160.1deg [env.py: 1019] +05/12 08:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:30:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=283.2ms, total=283.2ms [env.py: 1075] +05/12 08:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.787, 0.519, 0.067) [env.py: 1079] +05/12 08:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.1 deg [env.py: 1082] +05/12 08:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/12 08:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:30:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:30:21 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 08:30:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 08:30:21 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 08:30:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:30:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:30:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.859s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:30:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.438[m] 85.106[deg] [grasp_sample.py: 539] +05/12 08:30:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:30:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:30:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:30:23 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 08:30:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:30:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:30:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 16.87s (batch: 4.39s, save: 12.47s) [pipeline.py: 300] +05/12 08:30:26 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=2.26s: + episode_total: mean=115.60s, total=462.40s, count=4, min=6622.9ms, max=199104.5ms + sensor_polling: mean=464.9ms, total=327.74s, count=705, min=394.3ms, max=847.5ms + physics_step: mean=26.7ms, total=18.82s, count=705, min=16.5ms, max=56.9ms + save_trajectories: mean=12.47s, total=12.47s, count=1, min=12472.7ms, max=12472.7ms + save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4392.8ms, max=4392.8ms + task_sampling: mean=565.6ms, total=2.26s, count=4, min=519.9ms, max=682.7ms + task_specific_sample: mean=561.7ms, total=2.25s, count=4, min=516.5ms, max=677.9ms + scene_randomize: mean=1.8ms, total=7.1ms, count=4, min=1.3ms, max=2.6ms + mj_forward_sync: mean=456.0us, total=1.8ms, count=4, min=0.4ms, max=0.5ms + policy_setup: mean=18.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:30:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:30:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:30:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:30:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:30:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:30:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:30:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:30:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:30:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:30:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:30:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069943m [env.py: 870] +05/12 08:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:30:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83228402 0.48734089 0.0699426 ] yaw=-167.7deg [env.py: 1019] +05/12 08:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07466949 1.21471923 0.0699426 ] yaw=-96.3deg [env.py: 1019] +05/12 08:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85686195 0.62447819 0.0699426 ] yaw=-153.4deg [env.py: 1019] +05/12 08:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:30:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.5ms, total=121.6ms [env.py: 1075] +05/12 08:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.832, 0.487, 0.070) [env.py: 1079] +05/12 08:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.7 deg [env.py: 1082] +05/12 08:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m [env.py: 1086] +05/12 08:30:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:30:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:30:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:30:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:30:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:30:28 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 08:30:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/12 08:30:28 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 08:30:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:30:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:30:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.818s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:30:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.400[m] 86.626[deg] [grasp_sample.py: 539] +05/12 08:30:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:30:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:30:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:30:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:30:31 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:30:59 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:30:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:30:59 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:31:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:31:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:31:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:31:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:31:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:31:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:31:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:31:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:31:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 16.47s (batch: 3.94s, save: 12.53s) [pipeline.py: 300] +05/12 08:31:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:31:16 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.44s: + episode_total: mean=207.59s, total=207.59s, count=1, min=207591.2ms, max=207591.2ms + sensor_polling: mean=430.5ms, total=129.16s, count=300, min=373.2ms, max=932.8ms + save_trajectories: mean=12.53s, total=12.53s, count=1, min=12530.3ms, max=12530.3ms + physics_step: mean=26.0ms, total=7.79s, count=300, min=17.0ms, max=71.1ms + save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3935.8ms, max=3935.8ms + task_sampling: mean=441.4ms, total=441.4ms, count=1, min=441.4ms, max=441.4ms + task_specific_sample: mean=437.5ms, total=437.5ms, count=1, min=437.5ms, max=437.5ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=462.7us, 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 08:31:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:31:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:31:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:31:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:31:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:31:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:31:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:31:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:31:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018975m [env.py: 870] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:31:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86853267 0.1027947 0.01897542] yaw=122.1deg [env.py: 1019] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74714785 0.60352394 0.01897542] yaw=-186.1deg [env.py: 1019] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09112488 1.07003614 0.01897542] yaw=-130.4deg [env.py: 1019] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:31:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.6ms, total=154.6ms [env.py: 1075] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.103, 0.019) [env.py: 1079] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 122.1 deg [env.py: 1082] +05/12 08:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/12 08:31:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:31:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:31:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:31:19 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 08:31:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/12 08:31:19 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 08:31:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:31:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.106s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:31:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.914s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:31:20 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.572[m] 93.304[deg] [grasp_sample.py: 539] +05/12 08:31:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:31:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:31:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:31:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:31:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:31:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:32:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:32:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:32:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:32:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:32:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:32:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:32:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:32:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:32:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:32:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:32:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:32:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:32:34 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 08:32:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:32:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 08:32:35 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.605s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:32:35 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.055[m] 0.978[deg] [grasp_sample.py: 539] +05/12 08:32:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:32:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:32:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:32:41 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:32:41 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:32:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:32:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:32:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:33:11 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:33:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:33:11 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:33:11 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:33:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:33:11 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:33:20 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:33:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:33:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:33:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.51s (batch: 4.65s, save: 10.86s) [pipeline.py: 300] +05/12 08:33:27 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.54s: + episode_total: mean=200.55s, total=200.55s, count=1, min=200546.0ms, max=200546.0ms + sensor_polling: mean=442.0ms, total=132.59s, count=300, min=395.0ms, max=983.2ms + save_trajectories: mean=10.86s, total=10.86s, count=1, min=10858.8ms, max=10858.8ms + physics_step: mean=26.3ms, total=7.88s, count=300, min=21.3ms, max=36.4ms + save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4647.1ms, max=4647.1ms + task_sampling: mean=536.5ms, total=536.5ms, count=1, min=536.5ms, max=536.5ms + task_specific_sample: mean=532.8ms, total=532.8ms, count=1, min=532.8ms, max=532.8ms + 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=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 08:33:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:33:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:33:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 16.26s (batch: 5.40s, save: 10.87s) [pipeline.py: 300] +05/12 08:33:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:33:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:33:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:33:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:33:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:33:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:33:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:33:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:33:28 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 08:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014436m [env.py: 870] +05/12 08:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:33:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8987187 0.70685774 0.0144357 ] yaw=-127.1deg [env.py: 1019] +05/12 08:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:33:28 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.62s: + episode_total: mean=187.87s, total=187.87s, count=1, min=187874.0ms, max=187874.0ms + sensor_polling: mean=426.7ms, total=128.02s, count=300, min=386.7ms, max=967.5ms + save_trajectories: mean=10.87s, total=10.87s, count=1, min=10865.2ms, max=10865.2ms + physics_step: mean=25.7ms, total=7.72s, count=300, min=17.6ms, max=35.2ms + save_batch_prep: mean=5.40s, total=5.40s, count=1, min=5397.7ms, max=5397.7ms + task_sampling: mean=620.6ms, total=620.6ms, count=1, min=620.6ms, max=620.6ms + task_specific_sample: mean=616.5ms, total=616.5ms, count=1, min=616.5ms, max=616.5ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=470.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.2us, 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 08:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02138447 1.04377334 0.0144357 ] yaw=-176.7deg [env.py: 1019] +05/12 08:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:33:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=297.5ms, total=297.6ms [env.py: 1075] +05/12 08:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.707, 0.014) [env.py: 1079] +05/12 08:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.1 deg [env.py: 1082] +05/12 08:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m [env.py: 1086] +05/12 08:33:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:33:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:33:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:33:29 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 08:33:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377] +05/12 08:33:29 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 08:33:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:33:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:33:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.890s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:33:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.540[m] 88.615[deg] [grasp_sample.py: 539] +05/12 08:33:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:33:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:33:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:33:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:33:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:33:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:33:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:33:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:33:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:33:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:33:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:33:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049785m [env.py: 870] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:33:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04020269 0.83489841 0.04978489] yaw=-147.4deg [env.py: 1019] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83693792 0.81932324 0.04978489] yaw=-150.5deg [env.py: 1019] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92018224 0.18939623 0.04978489] yaw=149.6deg [env.py: 1019] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:33:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=467.7ms, total=467.8ms [env.py: 1075] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.040, 0.835, 0.050) [env.py: 1079] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.4 deg [env.py: 1082] +05/12 08:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.750m [env.py: 1086] +05/12 08:33:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:33:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:33:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:33:31 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 08:33:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/12 08:33:32 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 08:33:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:33:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:33:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.953s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:33:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.338[m] 92.295[deg] [grasp_sample.py: 539] +05/12 08:33:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:33:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:33:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:33:44 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:33:48 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:33:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 08:33:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:34:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:34:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:34:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:34:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 16.98s (batch: 4.83s, save: 12.15s) [pipeline.py: 300] +05/12 08:34:06 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.45s: + episode_total: mean=217.92s, total=217.92s, count=1, min=217918.3ms, max=217918.3ms + sensor_polling: mean=469.8ms, total=140.94s, count=300, min=392.3ms, max=877.1ms + save_trajectories: mean=12.15s, total=12.15s, count=1, min=12146.9ms, max=12146.9ms + physics_step: mean=28.4ms, total=8.51s, count=300, min=15.7ms, max=44.1ms + save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4831.9ms, max=4831.9ms + task_sampling: mean=452.2ms, total=452.2ms, count=1, min=452.2ms, max=452.2ms + task_specific_sample: mean=446.8ms, total=446.8ms, count=1, min=446.8ms, max=446.8ms + scene_randomize: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + mj_forward_sync: mean=475.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=23.2us, 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 08:34:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:34:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:34:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:34:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:34:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:34:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:34:07 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 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053480m [env.py: 870] +05/12 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:34:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89431471 0.10853411 0.05348008] yaw=155.0deg [env.py: 1019] +05/12 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11617999 1.10823744 0.05348008] yaw=-166.0deg [env.py: 1019] +05/12 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.05743732 1.20247426 0.05348008] yaw=-150.3deg [env.py: 1019] +05/12 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:34:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.8ms, total=188.8ms [env.py: 1075] +05/12 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.109, 0.053) [env.py: 1079] +05/12 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.0 deg [env.py: 1082] +05/12 08:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/12 08:34:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:34:08 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 08:34:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/12 08:34:08 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 08:34:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:34:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:34:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.308s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:34:09 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.435[m] 85.861[deg] [grasp_sample.py: 539] +05/12 08:34:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:34:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:34:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:34:10 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:34:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:34:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:34:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:34:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:34:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:34:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:34:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:34:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:34:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.58s (batch: 3.48s, save: 11.09s) [pipeline.py: 300] +05/12 08:34:26 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.51s: + episode_total: mean=187.41s, total=187.41s, count=1, min=187410.5ms, max=187410.5ms + sensor_polling: mean=436.4ms, total=130.92s, count=300, min=378.8ms, max=971.0ms + save_trajectories: mean=11.09s, total=11.09s, count=1, min=11094.8ms, max=11094.8ms + physics_step: mean=27.8ms, total=8.33s, count=300, min=21.5ms, max=95.1ms + save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3483.6ms, max=3483.6ms + task_sampling: mean=507.3ms, total=507.3ms, count=1, min=507.3ms, max=507.3ms + task_specific_sample: mean=502.8ms, total=502.8ms, count=1, min=502.8ms, max=502.8ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=646.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:34:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:34:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:34:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:34:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:34:27 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 08:34:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:34:27 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 08:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051464m [env.py: 870] +05/12 08:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:34:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64752726 0.32735425 0.05146426] yaw=195.7deg [env.py: 1019] +05/12 08:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13661742 1.04056604 0.05146426] yaw=-168.3deg [env.py: 1019] +05/12 08:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8715565 0.30799329 0.05146426] yaw=185.8deg [env.py: 1019] +05/12 08:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:34:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=417.4ms, total=417.4ms [env.py: 1075] +05/12 08:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.648, 0.327, 0.051) [env.py: 1079] +05/12 08:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 195.7 deg [env.py: 1082] +05/12 08:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/12 08:34:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:34:28 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 08:34:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/12 08:34:28 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 08:34:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:34:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:34:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.271s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:34:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.675[m] 81.758[deg] [grasp_sample.py: 539] +05/12 08:34:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:34:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:34:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:34:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:34:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:34:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:34:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:35:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:35:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:35:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:35:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:35:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:35:51 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:36:00 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:36:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:18 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:36:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:36:18 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/12 08:36:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:36:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:36:21 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 08:36:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:36:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 08:36:22 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.781s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:36:22 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.311[deg] [grasp_sample.py: 539] +05/12 08:36:23 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:36:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:36:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:36:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:36:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:36:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:36:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:36:25 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 08:36:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:36:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059816m [env.py: 870] +05/12 08:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:36:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87245737 1.07147984 0.05981637] yaw=-156.6deg [env.py: 1019] +05/12 08:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03871421 0.92091014 0.05981637] yaw=-165.3deg [env.py: 1019] +05/12 08:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96074603 0.16152746 0.05981637] yaw=184.0deg [env.py: 1019] +05/12 08:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:36:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.0ms, total=101.0ms [env.py: 1075] +05/12 08:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.872, 1.071, 0.060) [env.py: 1079] +05/12 08:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.6 deg [env.py: 1082] +05/12 08:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [env.py: 1086] +05/12 08:36:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:36:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:36:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:36:25 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 08:36:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/12 08:36:25 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 08:36:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:36:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:36:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.733s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:36:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.576[m] 77.958[deg] [grasp_sample.py: 539] +05/12 08:36:29 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:36:30 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:36:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:36:30 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:36:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:36:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:36:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:36:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:36:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:36:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:36:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:36:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:36:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:36:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:36:31 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 08:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073091m [env.py: 870] +05/12 08:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:36:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74610887 0.9892881 0.07309122] yaw=-174.0deg [env.py: 1019] +05/12 08:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:36:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.3ms, total=217.3ms [env.py: 1075] +05/12 08:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.746, 0.989, 0.073) [env.py: 1079] +05/12 08:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.0 deg [env.py: 1082] +05/12 08:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 08:36:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:36:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:36:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:36:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:36:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:36:31 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 08:36:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/12 08:36:31 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 08:36:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:36:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:36:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:36:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:36:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.41s (batch: 3.86s, save: 11.54s) [pipeline.py: 300] +05/12 08:36:34 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.82s: + episode_total: mean=183.37s, total=183.37s, count=1, min=183366.5ms, max=183366.5ms + sensor_polling: mean=444.8ms, total=128.54s, count=289, min=398.5ms, max=1028.3ms + save_trajectories: mean=11.54s, total=11.54s, count=1, min=11544.7ms, max=11544.7ms + physics_step: mean=25.7ms, total=7.42s, count=289, min=19.6ms, max=70.5ms + save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3864.5ms, max=3864.5ms + task_sampling: mean=824.1ms, total=824.1ms, count=1, min=824.1ms, max=824.1ms + task_specific_sample: mean=819.5ms, total=819.5ms, count=1, min=819.5ms, max=819.5ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=465.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=35.4us, 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 08:36:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.957s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:36:34 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.690[m] 87.823[deg] [grasp_sample.py: 539] +05/12 08:36:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:36:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:36:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:36:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:36:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:36:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:36:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:36:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:36:35 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 08:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079735m [env.py: 870] +05/12 08:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:36:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77984083 0.17380036 0.07973481] yaw=197.7deg [env.py: 1019] +05/12 08:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96085968 1.12035179 0.07973481] yaw=-117.6deg [env.py: 1019] +05/12 08:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:36:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.6ms, total=215.6ms [env.py: 1075] +05/12 08:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.174, 0.080) [env.py: 1079] +05/12 08:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 197.7 deg [env.py: 1082] +05/12 08:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m [env.py: 1086] +05/12 08:36:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:36:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:36:36 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:36:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:36:36 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 08:36:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 08:36:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:36:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:36:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:36:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:36:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:36:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:36:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:36:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:36:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:36:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:36:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:36:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:36:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:36:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061933m [env.py: 870] +05/12 08:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:36:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71037485 0.08178688 0.0619335 ] yaw=162.7deg [env.py: 1019] +05/12 08:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97569729 1.07940984 0.0619335 ] yaw=-158.0deg [env.py: 1019] +05/12 08:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78309255 1.06093654 0.0619335 ] yaw=-164.3deg [env.py: 1019] +05/12 08:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:36:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.9ms, total=148.0ms [env.py: 1075] +05/12 08:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.710, 0.082, 0.062) [env.py: 1079] +05/12 08:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.7 deg [env.py: 1082] +05/12 08:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m [env.py: 1086] +05/12 08:36:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:36:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:36:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:36:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:36:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.543s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:36:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.632[m] 83.383[deg] [grasp_sample.py: 539] +05/12 08:36:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:36:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:36:38 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 08:36:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 08:36:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:36:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:36:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:36:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:36:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:36:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:36:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.700s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:36:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.589[m] 80.314[deg] [grasp_sample.py: 539] +05/12 08:36:42 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:36:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:36:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:36:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:36:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:36:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:36:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:36:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:36:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:36:43 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 08:36:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:36:43 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 08:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096339m [env.py: 870] +05/12 08:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:36:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78541738 0.33802082 0.09633933] yaw=136.6deg [env.py: 1019] +05/12 08:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82534861 0.70977208 0.09633933] yaw=-173.7deg [env.py: 1019] +05/12 08:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74014271 0.90182782 0.09633933] yaw=-181.9deg [env.py: 1019] +05/12 08:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:36:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.8ms, total=160.9ms [env.py: 1075] +05/12 08:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.785, 0.338, 0.096) [env.py: 1079] +05/12 08:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 136.6 deg [env.py: 1082] +05/12 08:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/12 08:36:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:36:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:36:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:36:44 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 08:36:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 08:36:44 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 08:36:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:36:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:36:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.956s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:36:45 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.608[m] 96.296[deg] [grasp_sample.py: 539] +05/12 08:36:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:36:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:36:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:36:46 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 08:36:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:36:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:36:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 19.02s (batch: 4.95s, save: 14.06s) [pipeline.py: 300] +05/12 08:36:50 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.60s: + episode_total: mean=201.68s, total=201.68s, count=1, min=201683.8ms, max=201683.8ms + sensor_polling: mean=462.3ms, total=138.70s, count=300, min=402.3ms, max=991.6ms + save_trajectories: mean=14.06s, total=14.06s, count=1, min=14063.0ms, max=14063.0ms + physics_step: mean=28.3ms, total=8.50s, count=300, min=21.5ms, max=64.8ms + save_batch_prep: mean=4.95s, total=4.95s, count=1, min=4953.0ms, max=4953.0ms + task_sampling: mean=600.7ms, total=600.7ms, count=1, min=600.7ms, max=600.7ms + task_specific_sample: mean=596.6ms, total=596.6ms, count=1, min=596.6ms, max=596.6ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=453.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=13.3us, 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 08:36:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:36:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:36:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:36:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:36:52 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 08:36:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:36:52 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 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080471m [env.py: 870] +05/12 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:36:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90041632 0.71116854 0.08047144] yaw=-190.7deg [env.py: 1019] +05/12 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90366141 0.84378339 0.08047144] yaw=-154.7deg [env.py: 1019] +05/12 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:36:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.1ms, total=216.1ms [env.py: 1075] +05/12 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.711, 0.080) [env.py: 1079] +05/12 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -190.7 deg [env.py: 1082] +05/12 08:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m [env.py: 1086] +05/12 08:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:36:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:36:52 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 08:36:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s [base_object_manipulation_planner_policy.py: 377] +05/12 08:36:52 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 08:36:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:36:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:36:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.908s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:36:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.503[m] 98.665[deg] [grasp_sample.py: 539] +05/12 08:36:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:36:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:36:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:36:56 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:37:23 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:37:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:37:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:37:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:37:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:37:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:37:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 16.48s (batch: 3.87s, save: 12.61s) [pipeline.py: 300] +05/12 08:37:40 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.74s: + episode_total: mean=193.00s, total=193.00s, count=1, min=193003.8ms, max=193003.8ms + sensor_polling: mean=451.1ms, total=135.34s, count=300, min=378.5ms, max=958.4ms + save_trajectories: mean=12.61s, total=12.61s, count=1, min=12607.6ms, max=12607.6ms + physics_step: mean=27.2ms, total=8.16s, count=300, min=21.6ms, max=40.0ms + save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3874.4ms, max=3874.4ms + task_sampling: mean=738.9ms, total=738.9ms, count=1, min=738.9ms, max=738.9ms + task_specific_sample: mean=734.3ms, total=734.3ms, count=1, min=734.3ms, max=734.3ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=607.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=15.8us, 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 08:37:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:37:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:37:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:37:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:37:42 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 08:37:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:37:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074106m [env.py: 870] +05/12 08:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:37:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81999518 0.54428656 0.07410567] yaw=-193.6deg [env.py: 1019] +05/12 08:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:37:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=286.1ms, total=286.2ms [env.py: 1075] +05/12 08:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.820, 0.544, 0.074) [env.py: 1079] +05/12 08:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -193.6 deg [env.py: 1082] +05/12 08:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/12 08:37:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:37:42 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 08:37:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 08:37:42 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 08:37:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:37:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:37:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.836s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:37:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.433[m] 86.037[deg] [grasp_sample.py: 539] +05/12 08:37:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:37:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:37:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:37:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:37:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:37:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:37:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:37:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:37:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:37:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:37:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:38:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:38:14 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 08:38:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:38:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 82 non-colliding grasps [grasp_sample.py: 465] +05/12 08:38:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:38:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:38:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:39:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:39:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:39:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:39:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:39:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:39:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:39:18 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:39:23 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:39:46 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:39:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:39:46 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:39:50 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:39:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:39:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:40:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:40:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:40:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.34s (batch: 3.94s, save: 10.41s) [pipeline.py: 300] +05/12 08:40:00 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.51s: + episode_total: mean=205.07s, total=205.07s, count=1, min=205074.0ms, max=205074.0ms + sensor_polling: mean=471.3ms, total=141.39s, count=300, min=388.3ms, max=1067.2ms + save_trajectories: mean=10.41s, total=10.41s, count=1, min=10408.4ms, max=10408.4ms + physics_step: mean=27.3ms, total=8.19s, count=300, min=17.0ms, max=71.5ms + save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3935.2ms, max=3935.2ms + task_sampling: mean=507.2ms, total=507.2ms, count=1, min=507.2ms, max=507.2ms + task_specific_sample: mean=503.1ms, total=503.1ms, count=1, min=503.1ms, max=503.1ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=467.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:40:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:40:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:40:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:40:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:40:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:40:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:40:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:40:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:40:02 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 08:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065399m [env.py: 870] +05/12 08:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:40:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00334047 0.17241617 0.0653991 ] yaw=185.4deg [env.py: 1019] +05/12 08:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:40:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=410.0ms, total=410.0ms [env.py: 1075] +05/12 08:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.003, 0.172, 0.065) [env.py: 1079] +05/12 08:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.4 deg [env.py: 1082] +05/12 08:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.764m [env.py: 1086] +05/12 08:40:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:40:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:40:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:40:03 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 08:40:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 08:40:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:40:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:40:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:40:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.829s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:40:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.424[m] 93.988[deg] [grasp_sample.py: 539] +05/12 08:40:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:40:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:40:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:40:04 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:40:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:40:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:40:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:40:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.09s (batch: 3.98s, save: 11.10s) [pipeline.py: 300] +05/12 08:40:06 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.53s: + episode_total: mean=194.18s, total=194.18s, count=1, min=194176.1ms, max=194176.1ms + sensor_polling: mean=455.2ms, total=136.57s, count=300, min=403.9ms, max=1076.0ms + save_trajectories: mean=11.10s, total=11.10s, count=1, min=11104.8ms, max=11104.8ms + physics_step: mean=27.5ms, total=8.26s, count=300, min=21.4ms, max=93.4ms + save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3983.0ms, max=3983.0ms + task_sampling: mean=530.5ms, total=530.5ms, count=1, min=530.5ms, max=530.5ms + task_specific_sample: mean=526.2ms, total=526.2ms, count=1, min=526.2ms, max=526.2ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=454.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.2us, 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 08:40:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:40:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:40:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:40:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:40:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:40:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:40:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:40:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:40:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019440m [env.py: 870] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:40:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81954163 0.61680444 0.01943963] yaw=-195.4deg [env.py: 1019] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70156641 0.42486706 0.01943963] yaw=136.9deg [env.py: 1019] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84800109 0.79958837 0.01943963] yaw=-132.0deg [env.py: 1019] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:40:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.6ms, total=107.7ms [env.py: 1075] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.820, 0.617, 0.019) [env.py: 1079] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -195.4 deg [env.py: 1082] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/12 08:40:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:40:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:40:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:40:08 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 08:40:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 08:40:08 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 08:40:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:40:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:40:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.017s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:40:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.538[m] 93.663[deg] [grasp_sample.py: 539] +05/12 08:40:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:40:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:40:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:40:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:40:12 INFO: [Worker 0] Feasibility-checked 82 grasps in 117.352s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:40:12 INFO: [Worker 0] Feasible grasp found 220 (originally 105): w/ 0.227[m] 179.724[deg] [grasp_sample.py: 539] +05/12 08:40:13 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:40:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:40:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:40:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:40:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:40:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:40:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:40:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:40:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:40:14 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 08:40:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:40:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074404m [env.py: 870] +05/12 08:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:40:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96563657 1.13437336 0.07440388] yaw=-146.7deg [env.py: 1019] +05/12 08:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03663029 0.90036337 0.07440388] yaw=-186.6deg [env.py: 1019] +05/12 08:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84350939 0.24094042 0.07440388] yaw=144.0deg [env.py: 1019] +05/12 08:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:40:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=258.5ms, total=258.5ms [env.py: 1075] +05/12 08:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 1.134, 0.074) [env.py: 1079] +05/12 08:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.7 deg [env.py: 1082] +05/12 08:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/12 08:40:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:40:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:40:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:40:15 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 08:40:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 08:40:15 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 08:40:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:40:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:40:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.291s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:40:19 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.614[m] 79.608[deg] [grasp_sample.py: 539] +05/12 08:40:21 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:40:22 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/12 08:40:22 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/12 08:40:22 INFO: [Worker 0] Worker 0 completed house 1: 9/9 successful episodes [pipeline.py: 1323] +05/12 08:40:22 INFO: [Worker 0] [PROFILE] House 1 complete: 9/9 successful, 9 episodes, total_time=4431.64s + House averages: + episode_total: mean=140.39s, total=2527.10s, count=18, min=4685.4ms, max=239614.9ms + sensor_polling: mean=469.9ms, total=1630.99s, count=3471, min=389.4ms, max=877.1ms + save_trajectories: mean=11.83s, total=106.49s, count=9, min=10951.3ms, max=12476.3ms + physics_step: mean=27.9ms, total=96.88s, count=3471, min=15.7ms, max=87.5ms + save_batch_prep: mean=4.62s, total=41.62s, count=9, min=4392.8ms, max=5178.2ms + task_sampling: mean=685.6ms, total=12.34s, count=18, min=383.4ms, max=3759.2ms + task_specific_sample: mean=523.9ms, total=9.43s, count=18, min=379.9ms, max=918.6ms + scene_load: mean=2.84s, total=2.84s, count=1, min=2836.9ms, max=2836.9ms + scene_env_create: mean=1.71s, total=1.71s, count=1, min=1710.8ms, max=1710.8ms + scene_compile: mean=941.7ms, total=941.7ms, count=1, min=941.7ms, max=941.7ms + compile_mujoco: mean=639.9ms, total=639.9ms, count=1, min=639.9ms, max=639.9ms + compile_xml_load: mean=220.7ms, total=220.7ms, count=1, min=220.7ms, max=220.7ms + scene_init: mean=122.2ms, total=122.2ms, count=1, min=122.2ms, max=122.2ms + compile_aux_objects: mean=63.1ms, total=63.1ms, count=1, min=63.1ms, max=63.1ms + compile_aux_policy_objects: mean=63.1ms, total=63.1ms, count=1, min=63.1ms, max=63.1ms + scene_asset_install: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms + asset_install_grasps: mean=45.9ms, total=45.9ms, count=1, min=45.9ms, max=45.9ms + scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.1ms, max=3.9ms + asset_install_objects: mean=12.3ms, total=12.3ms, count=1, min=12.3ms, max=12.3ms + mj_forward_sync: mean=490.3us, total=8.8ms, count=18, min=0.4ms, max=0.7ms + compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + policy_setup: mean=23.3us, 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 08:40:22 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 08:40:22 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=4431.64s + Worker averages: + episode_total: mean=140.39s, total=2527.10s, count=18, min=4685.4ms, max=239614.9ms + sensor_polling: mean=469.9ms, total=1630.99s, count=3471, min=389.4ms, max=877.1ms + save_trajectories: mean=11.83s, total=106.49s, count=9, min=10951.3ms, max=12476.3ms + physics_step: mean=27.9ms, total=96.88s, count=3471, min=15.7ms, max=87.5ms + save_batch_prep: mean=4.62s, total=41.62s, count=9, min=4392.8ms, max=5178.2ms + task_sampling: mean=685.6ms, total=12.34s, count=18, min=383.4ms, max=3759.2ms + task_specific_sample: mean=523.9ms, total=9.43s, count=18, min=379.9ms, max=918.6ms + scene_load: mean=2.84s, total=2.84s, count=1, min=2836.9ms, max=2836.9ms + scene_env_create: mean=1.71s, total=1.71s, count=1, min=1710.8ms, max=1710.8ms + scene_compile: mean=941.7ms, total=941.7ms, count=1, min=941.7ms, max=941.7ms + compile_mujoco: mean=639.9ms, total=639.9ms, count=1, min=639.9ms, max=639.9ms + compile_xml_load: mean=220.7ms, total=220.7ms, count=1, min=220.7ms, max=220.7ms + scene_init: mean=122.2ms, total=122.2ms, count=1, min=122.2ms, max=122.2ms + compile_aux_objects: mean=63.1ms, total=63.1ms, count=1, min=63.1ms, max=63.1ms + compile_aux_policy_objects: mean=63.1ms, total=63.1ms, count=1, min=63.1ms, max=63.1ms + scene_asset_install: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms + asset_install_grasps: mean=45.9ms, total=45.9ms, count=1, min=45.9ms, max=45.9ms + scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.1ms, max=3.9ms + asset_install_objects: mean=12.3ms, total=12.3ms, count=1, min=12.3ms, max=12.3ms + mj_forward_sync: mean=490.3us, total=8.8ms, count=18, min=0.4ms, max=0.7ms + compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + policy_setup: mean=23.3us, 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 08:40:25 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 08:40:25 INFO: Success count: 9, Total count: 9 [pipeline.py: 1491] +05/12 08:40:25 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/12 08:40:36 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:40:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:40:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:40:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:40:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:40:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:40:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.04s (batch: 3.59s, save: 11.45s) [pipeline.py: 300] +05/12 08:40:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:40:51 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.63s: + episode_total: mean=189.82s, total=189.82s, count=1, min=189819.7ms, max=189819.7ms + sensor_polling: mean=432.7ms, total=129.82s, count=300, min=373.8ms, max=958.0ms + save_trajectories: mean=11.45s, total=11.45s, count=1, min=11449.5ms, max=11449.5ms + physics_step: mean=27.1ms, total=8.13s, count=300, min=21.4ms, max=41.9ms + save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3592.4ms, max=3592.4ms + task_sampling: mean=629.2ms, total=629.2ms, count=1, min=629.2ms, max=629.2ms + task_specific_sample: mean=625.3ms, total=625.3ms, count=1, min=625.3ms, max=625.3ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=452.5us, 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 08:40:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:40:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:40:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:40:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:40:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:40:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:40:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:40:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:40:53 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 08:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002252m [env.py: 870] +05/12 08:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:40:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0291092 1.22669125 0.00225203] yaw=-101.8deg [env.py: 1019] +05/12 08:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83958943 0.85141764 0.00225203] yaw=-152.9deg [env.py: 1019] +05/12 08:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:40:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=257.8ms, total=257.9ms [env.py: 1075] +05/12 08:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.029, 1.227, 0.002) [env.py: 1079] +05/12 08:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -101.8 deg [env.py: 1082] +05/12 08:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/12 08:40:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:40:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:40:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:40:53 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 08:40:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 08:40:53 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 08:40:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:40:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:40:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:40:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.933s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:40:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.638[m] 97.072[deg] [grasp_sample.py: 539] +05/12 08:40:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:40:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:40:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:41:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:41:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:41:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:41:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:41:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:41:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:41:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:41:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:42:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:42:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:42:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:42:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:42:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:42:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:42:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:42:05 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 08:42:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:42:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 08:42:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:42:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.892s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:42:06 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.051[m] 9.712[deg] [grasp_sample.py: 539] +05/12 08:42:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:42:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:42:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:42:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:42:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:42:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:42:33 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:42:34 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:42:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:42:34 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 08:42:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:42:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 86 non-colliding grasps [grasp_sample.py: 465] +05/12 08:42:34 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.627s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:42:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.053[m] 10.116[deg] [grasp_sample.py: 539] +05/12 08:42:35 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:42:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:42:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:42:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:42:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:42:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:42:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:42:37 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 08:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047481m [env.py: 870] +05/12 08:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:42:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72432258 0.05847252 0.04748136] yaw=165.1deg [env.py: 1019] +05/12 08:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82955927 0.91620053 0.04748136] yaw=-147.5deg [env.py: 1019] +05/12 08:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9559466 0.81786534 0.04748136] yaw=-188.0deg [env.py: 1019] +05/12 08:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:42:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.4ms, total=113.5ms [env.py: 1075] +05/12 08:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.724, 0.058, 0.047) [env.py: 1079] +05/12 08:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.1 deg [env.py: 1082] +05/12 08:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/12 08:42:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:42:38 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 08:42:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 08:42:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:42:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:42:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:42:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.709s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:42:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.640[m] 94.710[deg] [grasp_sample.py: 539] +05/12 08:42:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:42:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:42:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:42:41 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 08:42:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:42:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:42:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:42:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:42:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:42:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:42:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:42:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:42:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:42:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:42:57 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 08:42:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:42:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 08:43:00 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.850s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:43:00 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 1.662[deg] [grasp_sample.py: 539] +05/12 08:43:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:43:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:43:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:43:01 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:43:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:43:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:43:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:43:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:43:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:43:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.82s (batch: 4.78s, save: 11.04s) [pipeline.py: 300] +05/12 08:43:18 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.48s: + episode_total: mean=190.75s, total=190.75s, count=1, min=190746.3ms, max=190746.3ms + sensor_polling: mean=442.4ms, total=132.73s, count=300, min=396.2ms, max=1022.2ms + save_trajectories: mean=11.04s, total=11.04s, count=1, min=11036.2ms, max=11036.2ms + physics_step: mean=24.8ms, total=7.44s, count=300, min=16.6ms, max=38.9ms + save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4778.9ms, max=4778.9ms + task_sampling: mean=479.3ms, total=479.3ms, count=1, min=479.3ms, max=479.3ms + task_specific_sample: mean=475.2ms, total=475.2ms, count=1, min=475.2ms, max=475.2ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=452.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:43:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:43:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:43:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:43:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:43:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:43:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:43:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:43:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:43:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:43:19 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 08:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096351m [env.py: 870] +05/12 08:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:43:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0398774 0.85751927 0.09635052] yaw=-184.8deg [env.py: 1019] +05/12 08:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:43:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.8ms, total=215.9ms [env.py: 1075] +05/12 08:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.040, 0.858, 0.096) [env.py: 1079] +05/12 08:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -184.8 deg [env.py: 1082] +05/12 08:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.761m [env.py: 1086] +05/12 08:43:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:43:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:43:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:43:20 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 08:43:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 08:43:20 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 08:43:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:43:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:43:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.877s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:43:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.507[m] 85.140[deg] [grasp_sample.py: 539] +05/12 08:43:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:43:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:43:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:43:23 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 08:43:23 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=0.57s: + episode_total: mean=149.99s, total=149.99s, count=1, min=149985.8ms, max=149985.8ms + sensor_polling: mean=411.7ms, total=123.52s, count=300, min=375.5ms, max=959.0ms + physics_step: mean=23.4ms, total=7.02s, count=300, min=16.7ms, max=38.4ms + task_sampling: mean=573.4ms, total=573.4ms, count=1, min=573.4ms, max=573.4ms + task_specific_sample: mean=568.5ms, total=568.5ms, count=1, min=568.5ms, max=568.5ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=616.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:43:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:43:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:43:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:43:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:43:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:43:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:43:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:43:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:43:24 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 08:43:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:43:24 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 08:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076855m [env.py: 870] +05/12 08:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:43:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87855273 0.70223486 0.07685458] yaw=-141.2deg [env.py: 1019] +05/12 08:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72552107 0.47380896 0.07685458] yaw=213.2deg [env.py: 1019] +05/12 08:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:43:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=269.4ms, total=269.5ms [env.py: 1075] +05/12 08:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.879, 0.702, 0.077) [env.py: 1079] +05/12 08:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.2 deg [env.py: 1082] +05/12 08:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/12 08:43:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:43:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:43:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:43:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:43:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:43:25 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 08:43:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/12 08:43:25 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 08:43:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:43:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:43:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.061s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:43:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.501[m] 97.660[deg] [grasp_sample.py: 539] +05/12 08:43:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:43:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:43:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:43:27 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 08:43:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:43:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:43:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:44:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:44:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:44:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:44:42 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 08:44:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:44:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 08:44:43 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.620s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:44:43 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.141[deg] [grasp_sample.py: 539] +05/12 08:44:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:44:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:44:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:45:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:45:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:45:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:17 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 08:45:17 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=False episode_total=1.13s: + episode_total: mean=156.83s, total=313.65s, count=2, min=153701.9ms, max=159949.3ms + sensor_polling: mean=425.2ms, total=235.16s, count=553, min=392.9ms, max=952.3ms + physics_step: mean=24.1ms, total=13.34s, count=553, min=15.2ms, max=39.7ms + task_sampling: mean=563.9ms, total=1.13s, count=2, min=406.6ms, max=721.2ms + task_specific_sample: mean=560.2ms, total=1.12s, count=2, min=403.2ms, max=717.2ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms + mj_forward_sync: mean=465.5us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=13.8us, 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 08:45:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:45:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:45:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:45:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:45:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:45:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:45:19 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 08:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026172m [env.py: 870] +05/12 08:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:45:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97225241 0.14282408 0.02617193] yaw=120.5deg [env.py: 1019] +05/12 08:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.62527096 0.49849019 0.02617193] yaw=-216.6deg [env.py: 1019] +05/12 08:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:45:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=366.6ms, total=366.7ms [env.py: 1075] +05/12 08:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.143, 0.026) [env.py: 1079] +05/12 08:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 120.5 deg [env.py: 1082] +05/12 08:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/12 08:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:45:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:45:19 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 08:45:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/12 08:45:19 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 08:45:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:45:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:45:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.006s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:45:20 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.445[m] 95.543[deg] [grasp_sample.py: 539] +05/12 08:45:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:45:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:45:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:45:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:45:36 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:45:40 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:46:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:46:05 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:46:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:46:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:46:06 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:46:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:46:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:46:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:46:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:46:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:46:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:46:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.28s (batch: 4.48s, save: 10.80s) [pipeline.py: 300] +05/12 08:46:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:46:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:46:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.02s (batch: 4.11s, save: 10.91s) [pipeline.py: 300] +05/12 08:46:21 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.55s: + episode_total: mean=177.04s, total=177.04s, count=1, min=177043.4ms, max=177043.4ms + sensor_polling: mean=397.2ms, total=119.17s, count=300, min=367.0ms, max=941.6ms + save_trajectories: mean=10.80s, total=10.80s, count=1, min=10802.2ms, max=10802.2ms + physics_step: mean=23.5ms, total=7.06s, count=300, min=16.8ms, max=31.9ms + save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4480.1ms, max=4480.1ms + task_sampling: mean=554.5ms, total=554.5ms, count=1, min=554.5ms, max=554.5ms + task_specific_sample: mean=550.8ms, total=550.8ms, count=1, min=550.8ms, max=550.8ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=457.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:46:22 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.52s: + episode_total: mean=182.47s, total=182.47s, count=1, min=182468.3ms, max=182468.3ms + sensor_polling: mean=428.2ms, total=128.46s, count=300, min=394.8ms, max=1063.0ms + save_trajectories: mean=10.91s, total=10.91s, count=1, min=10912.7ms, max=10912.7ms + physics_step: mean=25.1ms, total=7.53s, count=300, min=17.0ms, max=34.9ms + save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4111.0ms, max=4111.0ms + task_sampling: mean=522.8ms, total=522.8ms, count=1, min=522.8ms, max=522.8ms + task_specific_sample: mean=518.7ms, total=518.7ms, count=1, min=518.7ms, max=518.7ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=450.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.6us, 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 08:46:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:46:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:46:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:46:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:46:23 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 08:46:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:46:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068833m [env.py: 870] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:46:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65152469 0.35403334 0.06883319] yaw=137.2deg [env.py: 1019] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72311391 0.75196835 0.06883319] yaw=-168.1deg [env.py: 1019] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87428272 1.1213808 0.06883319] yaw=-181.4deg [env.py: 1019] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:46:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.5ms, total=174.5ms [env.py: 1075] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.354, 0.069) [env.py: 1079] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 137.2 deg [env.py: 1082] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 08:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:46:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:46:23 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 08:46:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:46:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:46:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:46:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:46:23 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 08:46:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:46:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070388m [env.py: 870] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:46:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62754636 0.33228738 0.07038766] yaw=145.2deg [env.py: 1019] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:46:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 08:46:23 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 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:46:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:46:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=188.9ms, total=188.9ms [env.py: 1075] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.628, 0.332, 0.070) [env.py: 1079] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.2 deg [env.py: 1082] +05/12 08:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m [env.py: 1086] +05/12 08:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:46:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.139s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:46:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:46:24 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 08:46:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/12 08:46:24 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 08:46:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:46:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:46:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.818s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:46:27 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.732[m] 96.953[deg] [grasp_sample.py: 539] +05/12 08:46:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.269s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:46:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.702[m] 91.046[deg] [grasp_sample.py: 539] +05/12 08:46:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:46:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:46:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:46:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:46:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:46:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:46:27 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 08:46:28 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 08:47:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:47:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:47:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:47:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:47:40 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 08:47:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:47:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 08:47:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:47:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:47:44 INFO: [Worker 0] Feasibility-checked 76 grasps in 4.028s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:47:44 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 4.410[deg] [grasp_sample.py: 539] +05/12 08:47:46 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:47:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:47:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:47:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:47:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:47:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:47:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:47:47 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 08:47:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:47:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036979m [env.py: 870] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:47:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90688223 0.15422776 0.03697893] yaw=143.8deg [env.py: 1019] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72450135 0.51942972 0.03697893] yaw=-165.5deg [env.py: 1019] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91219214 0.55650418 0.03697893] yaw=-159.0deg [env.py: 1019] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:47:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.8ms, total=166.8ms [env.py: 1075] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.907, 0.154, 0.037) [env.py: 1079] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 143.8 deg [env.py: 1082] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/12 08:47:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:47:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:47:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:47:48 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 08:47:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/12 08:47:48 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 08:47:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:47:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:47:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.878s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:47:49 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.473[m] 101.818[deg] [grasp_sample.py: 539] +05/12 08:47:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:47:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:47:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:47:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:47:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:48:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:48:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:48:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:48:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:48:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:48:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:48:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:48:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:48:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:48:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:48:18 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 08:48:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:48:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 08:48:20 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.749s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:48:20 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.279[deg] [grasp_sample.py: 539] +05/12 08:48:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:48:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:48:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:48:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:48:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:48:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:48:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:48:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:48:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:48:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:48:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:48:46 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:48:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:48:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:48:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:48:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:48:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:48:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:48:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:48:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:48:56 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 08:48:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:48:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/12 08:48:58 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.164s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:48:58 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.769[deg] [grasp_sample.py: 539] +05/12 08:49:00 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:49:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:49:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:49:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:49:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:49:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:49:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:49:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:49:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:49:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:49:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:49:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027297m [env.py: 870] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:49:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.17642787 1.03305833 0.02729665] yaw=-155.1deg [env.py: 1019] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84268117 0.5210382 0.02729665] yaw=-162.3deg [env.py: 1019] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8550625 0.63601057 0.02729665] yaw=-209.7deg [env.py: 1019] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:49:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.3ms, total=179.4ms [env.py: 1075] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.176, 1.033, 0.027) [env.py: 1079] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg [env.py: 1082] +05/12 08:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.762m [env.py: 1086] +05/12 08:49:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:49:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:49:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:49:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:49:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:49:02 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 08:49:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 08:49:02 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 08:49:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:49:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:49:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.113s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:49:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.409[m] 92.442[deg] [grasp_sample.py: 539] +05/12 08:49:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:49:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:49:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:49:17 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:49:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:49:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:49:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:49:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:49:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.69s (batch: 4.26s, save: 10.43s) [pipeline.py: 300] +05/12 08:49:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:32 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.49s: + episode_total: mean=189.73s, total=189.73s, count=1, min=189734.1ms, max=189734.1ms + sensor_polling: mean=428.3ms, total=128.50s, count=300, min=368.4ms, max=1048.6ms + save_trajectories: mean=10.43s, total=10.43s, count=1, min=10428.3ms, max=10428.3ms + physics_step: mean=26.9ms, total=8.07s, count=300, min=17.0ms, max=42.7ms + save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4261.1ms, max=4261.1ms + task_sampling: mean=492.9ms, total=492.9ms, count=1, min=492.9ms, max=492.9ms + task_specific_sample: mean=489.0ms, total=489.0ms, count=1, min=489.0ms, max=489.0ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=449.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.2us, 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 08:49:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:49:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:49:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:49:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:49:34 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 08:49:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:49:34 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 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000985m [env.py: 870] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:49:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97808818 0.98295229 0.00098517] yaw=-174.1deg [env.py: 1019] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.61900915 0.40683786 0.00098517] yaw=202.9deg [env.py: 1019] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-8.88891233e-01 1.12684386e+00 9.85168275e-04] yaw=-171.2deg [env.py: 1019] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:49:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.6ms, total=135.6ms [env.py: 1075] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 0.983, 0.001) [env.py: 1079] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.1 deg [env.py: 1082] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m [env.py: 1086] +05/12 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:49:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:49:34 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 08:49:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 08:49:34 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 08:49:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:49:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:49:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.005s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:49:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.569[m] 92.108[deg] [grasp_sample.py: 539] +05/12 08:49:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:49:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:49:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:49:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:49:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:49:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:49:44 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 08:49:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:49:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 08:49:45 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.940s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:49:45 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.276[deg] [grasp_sample.py: 539] +05/12 08:49:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:49:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:49:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:49:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:49:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:49:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:50:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:50:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:50:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:50:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:50:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:50:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:50:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:50:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:50:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:50:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/12 08:50:43 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.935s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:50:43 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.027[m] 3.869[deg] [grasp_sample.py: 539] +05/12 08:50:45 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:50:46 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/12 08:50:46 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/12 08:50:46 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes [pipeline.py: 1323] +05/12 08:50:46 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=5692.29s + House averages: + episode_total: mean=175.30s, total=3155.46s, count=18, min=4870.6ms, max=248095.9ms + sensor_polling: mean=448.0ms, total=2189.50s, count=4887, min=386.7ms, max=1067.2ms + save_trajectories: mean=12.40s, total=136.37s, count=11, min=10408.4ms, max=14750.9ms + physics_step: mean=26.6ms, total=129.76s, count=4887, min=15.0ms, max=71.5ms + save_batch_prep: mean=4.50s, total=49.48s, count=11, min=3864.5ms, max=5407.1ms + task_sampling: mean=752.7ms, total=13.55s, count=18, min=406.6ms, max=3778.6ms + task_specific_sample: mean=564.8ms, total=10.17s, count=18, min=403.2ms, max=819.5ms + scene_load: mean=3.30s, total=3.30s, count=1, min=3303.8ms, max=3303.8ms + scene_env_create: mean=1.89s, total=1.89s, count=1, min=1893.1ms, max=1893.1ms + scene_compile: mean=1.24s, total=1.24s, count=1, min=1239.1ms, max=1239.1ms + compile_mujoco: mean=790.4ms, total=790.4ms, count=1, min=790.4ms, max=790.4ms + compile_xml_load: mean=336.9ms, total=336.9ms, count=1, min=336.9ms, max=336.9ms + scene_init: mean=119.8ms, total=119.8ms, count=1, min=119.8ms, max=119.8ms + compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + compile_aux_policy_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms + compile_robot_add: mean=47.9ms, total=47.9ms, count=1, min=47.9ms, max=47.9ms + scene_randomize: mean=2.4ms, total=42.8ms, count=18, min=1.3ms, max=3.5ms + asset_install_grasps: mean=37.0ms, total=37.0ms, count=1, min=37.0ms, max=37.0ms + asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms + mj_forward_sync: mean=489.4us, total=8.8ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + 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 08:50:46 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 08:50:46 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5692.29s + Worker averages: + episode_total: mean=175.30s, total=3155.46s, count=18, min=4870.6ms, max=248095.9ms + sensor_polling: mean=448.0ms, total=2189.50s, count=4887, min=386.7ms, max=1067.2ms + save_trajectories: mean=12.40s, total=136.37s, count=11, min=10408.4ms, max=14750.9ms + physics_step: mean=26.6ms, total=129.76s, count=4887, min=15.0ms, max=71.5ms + save_batch_prep: mean=4.50s, total=49.48s, count=11, min=3864.5ms, max=5407.1ms + task_sampling: mean=752.7ms, total=13.55s, count=18, min=406.6ms, max=3778.6ms + task_specific_sample: mean=564.8ms, total=10.17s, count=18, min=403.2ms, max=819.5ms + scene_load: mean=3.30s, total=3.30s, count=1, min=3303.8ms, max=3303.8ms + scene_env_create: mean=1.89s, total=1.89s, count=1, min=1893.1ms, max=1893.1ms + scene_compile: mean=1.24s, total=1.24s, count=1, min=1239.1ms, max=1239.1ms + compile_mujoco: mean=790.4ms, total=790.4ms, count=1, min=790.4ms, max=790.4ms + compile_xml_load: mean=336.9ms, total=336.9ms, count=1, min=336.9ms, max=336.9ms + scene_init: mean=119.8ms, total=119.8ms, count=1, min=119.8ms, max=119.8ms + compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + compile_aux_policy_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms + compile_robot_add: mean=47.9ms, total=47.9ms, count=1, min=47.9ms, max=47.9ms + scene_randomize: mean=2.4ms, total=42.8ms, count=18, min=1.3ms, max=3.5ms + asset_install_grasps: mean=37.0ms, total=37.0ms, count=1, min=37.0ms, max=37.0ms + asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms + mj_forward_sync: mean=489.4us, total=8.8ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + 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 08:50:49 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 08:50:49 INFO: Success count: 11, Total count: 12 [pipeline.py: 1491] +05/12 08:50:49 INFO: Success rate: 91.67% [pipeline.py: 1492] +05/12 08:50:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:51:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:51:11 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 08:51:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:51:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 08:51:14 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.674s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:51:14 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.914[deg] [grasp_sample.py: 539] +05/12 08:51:15 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:51:17 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/12 08:51:17 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/12 08:51:17 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes [pipeline.py: 1323] +05/12 08:51:17 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=5795.73s + House averages: + episode_total: mean=177.11s, total=3188.06s, count=18, min=5197.6ms, max=225787.7ms + sensor_polling: mean=457.7ms, total=2251.68s, count=4920, min=370.1ms, max=1203.2ms + physics_step: mean=26.8ms, total=131.71s, count=4920, min=15.3ms, max=93.4ms + save_trajectories: mean=11.68s, total=128.51s, count=11, min=10858.8ms, max=14063.0ms + save_batch_prep: mean=4.19s, total=46.07s, count=11, min=3327.9ms, max=4953.0ms + task_sampling: mean=1.09s, total=19.68s, count=18, min=416.4ms, max=9646.9ms + task_specific_sample: mean=596.3ms, total=10.73s, count=18, min=412.1ms, max=1064.7ms + scene_load: mean=8.87s, total=8.87s, count=1, min=8869.6ms, max=8869.6ms + scene_env_create: mean=7.26s, total=7.26s, count=1, min=7257.8ms, max=7257.8ms + scene_compile: mean=1.40s, total=1.40s, count=1, min=1400.4ms, max=1400.4ms + compile_mujoco: mean=846.2ms, total=846.2ms, count=1, min=846.2ms, max=846.2ms + compile_xml_load: mean=440.6ms, total=440.6ms, count=1, min=440.6ms, max=440.6ms + scene_init: mean=157.3ms, total=157.3ms, count=1, min=157.3ms, max=157.3ms + compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + compile_aux_policy_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + scene_asset_install: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms + compile_robot_add: mean=48.1ms, total=48.1ms, count=1, min=48.1ms, max=48.1ms + scene_randomize: mean=2.4ms, total=42.4ms, count=18, min=1.1ms, max=4.7ms + asset_install_grasps: mean=38.4ms, total=38.4ms, count=1, min=38.4ms, max=38.4ms + asset_install_objects: mean=11.6ms, total=11.6ms, count=1, min=11.6ms, max=11.6ms + mj_forward_sync: mean=465.4us, total=8.4ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + policy_setup: mean=21.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 08:51:17 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 08:51:17 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5795.73s + Worker averages: + episode_total: mean=177.11s, total=3188.06s, count=18, min=5197.6ms, max=225787.7ms + sensor_polling: mean=457.7ms, total=2251.68s, count=4920, min=370.1ms, max=1203.2ms + physics_step: mean=26.8ms, total=131.71s, count=4920, min=15.3ms, max=93.4ms + save_trajectories: mean=11.68s, total=128.51s, count=11, min=10858.8ms, max=14063.0ms + save_batch_prep: mean=4.19s, total=46.07s, count=11, min=3327.9ms, max=4953.0ms + task_sampling: mean=1.09s, total=19.68s, count=18, min=416.4ms, max=9646.9ms + task_specific_sample: mean=596.3ms, total=10.73s, count=18, min=412.1ms, max=1064.7ms + scene_load: mean=8.87s, total=8.87s, count=1, min=8869.6ms, max=8869.6ms + scene_env_create: mean=7.26s, total=7.26s, count=1, min=7257.8ms, max=7257.8ms + scene_compile: mean=1.40s, total=1.40s, count=1, min=1400.4ms, max=1400.4ms + compile_mujoco: mean=846.2ms, total=846.2ms, count=1, min=846.2ms, max=846.2ms + compile_xml_load: mean=440.6ms, total=440.6ms, count=1, min=440.6ms, max=440.6ms + scene_init: mean=157.3ms, total=157.3ms, count=1, min=157.3ms, max=157.3ms + compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + compile_aux_policy_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + scene_asset_install: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms + compile_robot_add: mean=48.1ms, total=48.1ms, count=1, min=48.1ms, max=48.1ms + scene_randomize: mean=2.4ms, total=42.4ms, count=18, min=1.1ms, max=4.7ms + asset_install_grasps: mean=38.4ms, total=38.4ms, count=1, min=38.4ms, max=38.4ms + asset_install_objects: mean=11.6ms, total=11.6ms, count=1, min=11.6ms, max=11.6ms + mj_forward_sync: mean=465.4us, total=8.4ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + policy_setup: mean=21.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 08:51:19 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 08:51:19 INFO: Success count: 11, Total count: 12 [pipeline.py: 1491] +05/12 08:51:19 INFO: Success rate: 91.67% [pipeline.py: 1492] +05/12 08:51:47 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:52:15 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 08:52:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:52:15 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:52:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:52:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 08:52:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.18s (batch: 4.24s, save: 10.95s) [pipeline.py: 300] +05/12 08:52:31 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.45s: + episode_total: mean=177.33s, total=177.33s, count=1, min=177325.9ms, max=177325.9ms + sensor_polling: mean=407.1ms, total=122.14s, count=300, min=367.7ms, max=953.9ms + save_trajectories: mean=10.95s, total=10.95s, count=1, min=10949.0ms, max=10949.0ms + physics_step: mean=23.6ms, total=7.09s, count=300, min=16.8ms, max=30.4ms + save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4235.7ms, max=4235.7ms + task_sampling: mean=452.3ms, total=452.3ms, count=1, min=452.3ms, max=452.3ms + task_specific_sample: mean=448.5ms, total=448.5ms, count=1, min=448.5ms, max=448.5ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=463.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:52:33 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/12 08:52:33 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/12 08:52:33 INFO: [Worker 0] Worker 0 completed house 1: 14/15 successful episodes [pipeline.py: 1323] +05/12 08:52:33 INFO: [Worker 0] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=5924.36s + House averages: + episode_total: mean=180.96s, total=3257.21s, count=18, min=128065.0ms, max=207591.2ms + sensor_polling: mean=429.2ms, total=2269.88s, count=5289, min=363.1ms, max=1048.6ms + save_trajectories: mean=11.97s, total=167.52s, count=14, min=10428.3ms, max=15282.9ms + physics_step: mean=26.1ms, total=138.31s, count=5289, min=16.7ms, max=95.1ms + save_batch_prep: mean=4.22s, total=59.13s, count=14, min=3483.6ms, max=5123.4ms + task_sampling: mean=787.2ms, total=14.17s, count=18, min=441.4ms, max=3815.6ms + task_specific_sample: mean=617.8ms, total=11.12s, count=18, min=437.5ms, max=1011.4ms + scene_load: mean=2.97s, total=2.97s, count=1, min=2972.0ms, max=2972.0ms + scene_env_create: mean=1.88s, total=1.88s, count=1, min=1875.7ms, max=1875.7ms + scene_compile: mean=928.1ms, total=928.1ms, count=1, min=928.1ms, max=928.1ms + compile_mujoco: mean=624.4ms, total=624.4ms, count=1, min=624.4ms, max=624.4ms + compile_xml_load: mean=228.6ms, total=228.6ms, count=1, min=228.6ms, max=228.6ms + scene_init: mean=115.6ms, total=115.6ms, count=1, min=115.6ms, max=115.6ms + compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms + compile_aux_policy_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms + scene_asset_install: mean=52.2ms, total=52.2ms, count=1, min=52.2ms, max=52.2ms + scene_randomize: mean=2.6ms, total=46.5ms, count=18, min=1.3ms, max=3.5ms + asset_install_grasps: mean=38.1ms, total=38.1ms, count=1, min=38.1ms, max=38.1ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + mj_forward_sync: mean=563.2us, total=10.1ms, count=18, min=0.4ms, max=0.8ms + compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=22.6us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 08:52:33 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 08:52:33 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5924.36s + Worker averages: + episode_total: mean=180.96s, total=3257.21s, count=18, min=128065.0ms, max=207591.2ms + sensor_polling: mean=429.2ms, total=2269.88s, count=5289, min=363.1ms, max=1048.6ms + save_trajectories: mean=11.97s, total=167.52s, count=14, min=10428.3ms, max=15282.9ms + physics_step: mean=26.1ms, total=138.31s, count=5289, min=16.7ms, max=95.1ms + save_batch_prep: mean=4.22s, total=59.13s, count=14, min=3483.6ms, max=5123.4ms + task_sampling: mean=787.2ms, total=14.17s, count=18, min=441.4ms, max=3815.6ms + task_specific_sample: mean=617.8ms, total=11.12s, count=18, min=437.5ms, max=1011.4ms + scene_load: mean=2.97s, total=2.97s, count=1, min=2972.0ms, max=2972.0ms + scene_env_create: mean=1.88s, total=1.88s, count=1, min=1875.7ms, max=1875.7ms + scene_compile: mean=928.1ms, total=928.1ms, count=1, min=928.1ms, max=928.1ms + compile_mujoco: mean=624.4ms, total=624.4ms, count=1, min=624.4ms, max=624.4ms + compile_xml_load: mean=228.6ms, total=228.6ms, count=1, min=228.6ms, max=228.6ms + scene_init: mean=115.6ms, total=115.6ms, count=1, min=115.6ms, max=115.6ms + compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms + compile_aux_policy_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms + scene_asset_install: mean=52.2ms, total=52.2ms, count=1, min=52.2ms, max=52.2ms + scene_randomize: mean=2.6ms, total=46.5ms, count=18, min=1.3ms, max=3.5ms + asset_install_grasps: mean=38.1ms, total=38.1ms, count=1, min=38.1ms, max=38.1ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + mj_forward_sync: mean=563.2us, total=10.1ms, count=18, min=0.4ms, max=0.8ms + compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: 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'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 08:53:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 08:53:56 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 08:53:56 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 08:53:56 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 08:53:56 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 08:53:56 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 08:53:56 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010'), + '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': 51002, + '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 08:53:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 08:53:56 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 08:53:56 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 08:53:56 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 08:53:56 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 08:53:59 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 08:53:59 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 08:53:59 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 08:53:59 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_010'), + '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': 51001, + '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 08:53:59 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 08:53:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 08:53:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 08:53:59 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 08:53:59 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 08:53:59 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 08:53:59 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 08:53:59 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_010'), + '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': 51003, + '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 08:53:59 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 08:53:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 08:53:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 08:54:00 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 08:54:00 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 08:54:00 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 08:54:00 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 08:54:00 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 08:54:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:54:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:54:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:54:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:54:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:54:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089427m [env.py: 870] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:54:00 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84035113 0.62521371 0.08942735] yaw=-156.7deg [env.py: 1019] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:54:00 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 08:54:00 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99461574 0.82210318 0.08942735] yaw=-186.0deg [env.py: 1019] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15332502 1.0434737 0.08942735] yaw=-114.4deg [env.py: 1019] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:54:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=21.4ms, retries=132.0ms, total=153.4ms [env.py: 1075] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.625, 0.089) [env.py: 1079] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.7 deg [env.py: 1082] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 08:54:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:00 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 08:54:00 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 08:54:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:54:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:54:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:54:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:54:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:54:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007525m [env.py: 870] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:54:00 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 08:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79598284 0.39856172 0.00752471] yaw=135.6deg [env.py: 1019] +05/12 08:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88402295 0.21981861 0.00752471] yaw=196.6deg [env.py: 1019] +05/12 08:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8898536 1.06169055 0.00752471] yaw=-150.3deg [env.py: 1019] +05/12 08:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:54:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=21.5ms, retries=176.3ms, total=197.7ms [env.py: 1075] +05/12 08:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.399, 0.008) [env.py: 1079] +05/12 08:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 135.6 deg [env.py: 1082] +05/12 08:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m [env.py: 1086] +05/12 08:54:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:54:01 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 08:54:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:54:01 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 08:54:02 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 08:54:02 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 08:54:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 08:54:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 08:54:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:54:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:54:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:54:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:54:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056631m [env.py: 870] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:54:02 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 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76885666 0.31605297 0.05663099] yaw=133.6deg [env.py: 1019] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:54:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=31.9ms, retries=209.9ms, total=241.8ms [env.py: 1075] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.316, 0.057) [env.py: 1079] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 133.6 deg [env.py: 1082] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m [env.py: 1086] +05/12 08:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:54:03 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 08:54:03 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 08:54:03 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 08:54:03 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 08:54:03 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 08:54:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:54:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:54:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:54:03 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 08:54:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:54:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009074m [env.py: 870] +05/12 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:54:03 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 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76794355 0.85618042 0.00907411] yaw=-150.7deg [env.py: 1019] +05/12 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79981272 0.53133487 0.00907411] yaw=-137.0deg [env.py: 1019] +05/12 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02344806 1.24031458 0.00907411] yaw=-166.2deg [env.py: 1019] +05/12 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:54:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=21.3ms, retries=157.1ms, total=178.5ms [env.py: 1075] +05/12 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.856, 0.009) [env.py: 1079] +05/12 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.7 deg [env.py: 1082] +05/12 08:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m [env.py: 1086] +05/12 08:54:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:54:03 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 08:54:35 INFO: [Worker 0] Warmed up parallel IK solver in 34.361s [base_object_manipulation_planner_policy.py: 377] +05/12 08:54:35 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 08:54:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:54:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:54:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.860s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:54:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.483[m] 98.640[deg] [grasp_sample.py: 539] +05/12 08:54:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:54:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:54:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:54:37 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 08:54:37 INFO: [Worker 0] Warmed up parallel IK solver in 36.132s [base_object_manipulation_planner_policy.py: 377] +05/12 08:54:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:54:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:54:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:54:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.106s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:54:38 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.595[m] 88.383[deg] [grasp_sample.py: 539] +05/12 08:54:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:54:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:54:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:54:39 INFO: [Worker 0] Warmed up parallel IK solver in 35.951s [base_object_manipulation_planner_policy.py: 377] +05/12 08:54:39 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 08:54:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:54:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:54:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:54:40 INFO: [Worker 0] Warmed up parallel IK solver in 37.009s [base_object_manipulation_planner_policy.py: 377] +05/12 08:54:40 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 08:54:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:54:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:54:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.894s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:54:41 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.621[m] 93.812[deg] [grasp_sample.py: 539] +05/12 08:54:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:54:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:54:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:54:42 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 08:54:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.440s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:54:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.610[m] 99.604[deg] [grasp_sample.py: 539] +05/12 08:54:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:54:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:54:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:54:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:55:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:55:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:55:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:55:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:55:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:55:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:55:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:55:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:55:43 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 08:55:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:55:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:55:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:55:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:55:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:55:47 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 08:55:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:55:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 82 non-colliding grasps [grasp_sample.py: 465] +05/12 08:55:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:55:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 11.501s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:55:54 INFO: [Worker 0] Feasible grasp found 105 (originally 105): w/ 0.250[m] 4.530[deg] [grasp_sample.py: 539] +05/12 08:55:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:55:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:55:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:56:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:56:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:56:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:56:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:56:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:56:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:56:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:56:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:56:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:56:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:56:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:56:26 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 08:56:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:56:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 82 non-colliding grasps [grasp_sample.py: 465] +05/12 08:56:42 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:56:50 INFO: [Worker 0] Feasibility-checked 82 grasps in 24.077s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:56:50 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.415[m] 14.729[deg] [grasp_sample.py: 539] +05/12 08:56:52 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:56:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:56:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:56:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:56:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:56:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:56:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:56:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 08:56:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:56:53 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 08:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057624m [env.py: 870] +05/12 08:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:56:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94916515 1.08483899 0.05762386] yaw=-175.7deg [env.py: 1019] +05/12 08:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93048032 0.59315871 0.05762386] yaw=-167.6deg [env.py: 1019] +05/12 08:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89249392 0.2528583 0.05762386] yaw=165.5deg [env.py: 1019] +05/12 08:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:56:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=437.5ms, total=437.6ms [env.py: 1075] +05/12 08:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 1.085, 0.058) [env.py: 1079] +05/12 08:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.7 deg [env.py: 1082] +05/12 08:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m [env.py: 1086] +05/12 08:56:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:56:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:56:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:56:54 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 08:56:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/12 08:56:54 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 08:56:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:56:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:56:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.970s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:56:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.664[m] 80.603[deg] [grasp_sample.py: 539] +05/12 08:56:57 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:56:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:56:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:56:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:57:09 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 08:57:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:57:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:57:24 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 08:57:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:57:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:57:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:57:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 08:57:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.04s (batch: 4.82s, save: 11.22s) [pipeline.py: 300] +05/12 08:57:26 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=5.14s: + episode_total: mean=210.28s, total=210.28s, count=1, min=210275.4ms, max=210275.4ms + sensor_polling: mean=386.4ms, total=115.91s, count=300, min=372.2ms, max=724.2ms + save_trajectories: mean=11.22s, total=11.22s, count=1, min=11216.9ms, max=11216.9ms + physics_step: mean=23.1ms, total=6.94s, count=300, min=21.5ms, max=29.4ms + task_sampling: mean=5.14s, total=5.14s, count=1, min=5139.7ms, max=5139.7ms + save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4822.8ms, max=4822.8ms + scene_load: mean=4.61s, total=4.61s, count=1, min=4607.8ms, max=4607.8ms + scene_env_create: mean=3.01s, total=3.01s, count=1, min=3007.4ms, max=3007.4ms + scene_compile: mean=1.42s, total=1.42s, count=1, min=1415.9ms, max=1415.9ms + compile_mujoco: mean=849.3ms, total=849.3ms, count=1, min=849.3ms, max=849.3ms + task_specific_sample: mean=528.7ms, total=528.7ms, count=1, min=528.7ms, max=528.7ms + compile_xml_load: mean=462.6ms, total=462.6ms, count=1, min=462.6ms, max=462.6ms + scene_init: mean=118.8ms, total=118.8ms, count=1, min=118.8ms, max=118.8ms + scene_asset_install: mean=65.3ms, total=65.3ms, count=1, min=65.3ms, max=65.3ms + compile_aux_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms + compile_aux_policy_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms + asset_install_grasps: mean=46.6ms, total=46.6ms, count=1, min=46.6ms, max=46.6ms + compile_robot_add: mean=38.8ms, total=38.8ms, count=1, min=38.8ms, max=38.8ms + asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=498.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=50.5us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 08:57:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:57:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:57:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:57:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:57:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:57:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:57:27 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 08:57:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:57:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063606m [env.py: 870] +05/12 08:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:57:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91148835 0.18523067 0.06360586] yaw=184.5deg [env.py: 1019] +05/12 08:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68876981 0.52562776 0.06360586] yaw=-151.2deg [env.py: 1019] +05/12 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68865241 0.78986948 0.06360586] yaw=-170.7deg [env.py: 1019] +05/12 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:57:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.8ms, total=171.8ms [env.py: 1075] +05/12 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.911, 0.185, 0.064) [env.py: 1079] +05/12 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.5 deg [env.py: 1082] +05/12 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m [env.py: 1086] +05/12 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:57:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:57:28 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 08:57:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 08:57:28 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 08:57:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:57:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:57:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.875s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:57:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.462[m] 82.609[deg] [grasp_sample.py: 539] +05/12 08:57:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:57:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:57:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:57:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:57:31 INFO: [Worker 0] Feasibility-checked 82 grasps in 103.421s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:57:31 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 08:57:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:57:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:57:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:57:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:57:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:57:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:57:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:57:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:57:32 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 08:57:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:57:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096779m [env.py: 870] +05/12 08:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:57:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7656796 0.6776883 0.09677885] yaw=-197.6deg [env.py: 1019] +05/12 08:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98989946 1.03553637 0.09677885] yaw=-160.7deg [env.py: 1019] +05/12 08:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97779896 0.27561657 0.09677885] yaw=184.8deg [env.py: 1019] +05/12 08:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:57:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.9ms, total=143.9ms [env.py: 1075] +05/12 08:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.766, 0.678, 0.097) [env.py: 1079] +05/12 08:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -197.6 deg [env.py: 1082] +05/12 08:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/12 08:57:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:57:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:57:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:57:33 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 08:57:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 08:57:33 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 08:57:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:57:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:57:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.539s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:57:35 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.601[m] 92.138[deg] [grasp_sample.py: 539] +05/12 08:57:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:57:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:57:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:57:36 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 08:57:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:57:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 08:57:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.56s (batch: 4.32s, save: 12.25s) [pipeline.py: 300] +05/12 08:57:41 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.86s: + episode_total: mean=221.66s, total=221.66s, count=1, min=221662.8ms, max=221662.8ms + sensor_polling: mean=417.9ms, total=125.38s, count=300, min=395.5ms, max=748.4ms + save_trajectories: mean=12.25s, total=12.25s, count=1, min=12245.3ms, max=12245.3ms + physics_step: mean=23.7ms, total=7.11s, count=300, min=18.4ms, max=61.6ms + save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4317.4ms, max=4317.4ms + task_sampling: mean=3.86s, total=3.86s, count=1, min=3863.9ms, max=3863.9ms + scene_load: mean=3.37s, total=3.37s, count=1, min=3371.0ms, max=3371.0ms + scene_env_create: mean=2.14s, total=2.14s, count=1, min=2136.3ms, max=2136.3ms + scene_compile: mean=1.05s, total=1.05s, count=1, min=1046.5ms, max=1046.5ms + compile_mujoco: mean=756.5ms, total=756.5ms, count=1, min=756.5ms, max=756.5ms + task_specific_sample: mean=485.7ms, total=485.7ms, count=1, min=485.7ms, max=485.7ms + compile_xml_load: mean=210.2ms, total=210.2ms, count=1, min=210.2ms, max=210.2ms + scene_init: mean=115.4ms, total=115.4ms, count=1, min=115.4ms, max=115.4ms + scene_asset_install: mean=72.3ms, total=72.3ms, count=1, min=72.3ms, max=72.3ms + compile_aux_objects: mean=55.4ms, total=55.4ms, count=1, min=55.4ms, max=55.4ms + compile_aux_policy_objects: mean=55.4ms, total=55.4ms, count=1, min=55.4ms, max=55.4ms + asset_install_grasps: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms + asset_install_scene: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms + asset_install_objects: mean=12.7ms, total=12.7ms, count=1, min=12.7ms, max=12.7ms + compile_robot_add: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=474.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=44.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:57:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:57:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:57:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:57:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:57:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:57:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:57:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:57:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 08:57:43 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 08:57:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 08:57:43 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 08:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 08:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055179m [env.py: 870] +05/12 08:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 08:57:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 08:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82935102 0.61495409 0.05517944] yaw=-155.1deg [env.py: 1019] +05/12 08:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 08:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.7624945 0.63800076 0.05517944] yaw=-147.9deg [env.py: 1019] +05/12 08:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:57:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=201.3ms, total=201.4ms [env.py: 1075] +05/12 08:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.615, 0.055) [env.py: 1079] +05/12 08:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg [env.py: 1082] +05/12 08:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/12 08:57:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:57:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:57:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:57:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:57:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 08:57:43 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 08:57:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/12 08:57:43 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 08:57:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:57:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 08:57:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.026s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:57:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.497[m] 89.585[deg] [grasp_sample.py: 539] +05/12 08:57:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:57:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:57:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:57:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:57:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:58:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:58:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:58:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:58:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:58:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:58:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:58:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:58:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:58:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:58:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:58:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:59:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:59:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:59:33 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 08:59:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:59:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 08:59:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:35 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.745s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:59:35 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.446[deg] [grasp_sample.py: 539] +05/12 08:59:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:59:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:59:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:59:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:59:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:59:36 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 08:59:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:59:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 08:59:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.757s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:59:37 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 1.626[deg] [grasp_sample.py: 539] +05/12 08:59:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:59:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:59:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:59:38 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 08:59:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:00:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:00:07 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:00:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:00:07 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:00:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:00:09 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:00:10 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:00:24 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:00:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:00:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:00:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.40s (batch: 4.50s, save: 11.89s) [pipeline.py: 300] +05/12 09:00:24 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=5.89s: + episode_total: mean=193.55s, total=387.10s, count=2, min=175776.7ms, max=211326.9ms + sensor_polling: mean=443.8ms, total=206.36s, count=465, min=394.4ms, max=820.5ms + save_trajectories: mean=11.89s, total=11.89s, count=1, min=11894.9ms, max=11894.9ms + physics_step: mean=25.4ms, total=11.82s, count=465, min=16.4ms, max=61.6ms + task_sampling: mean=2.95s, total=5.89s, count=2, min=698.5ms, max=5194.8ms + scene_load: mean=4.66s, total=4.66s, count=1, min=4655.4ms, max=4655.4ms + save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4500.2ms, max=4500.2ms + scene_env_create: mean=3.23s, total=3.23s, count=1, min=3229.7ms, max=3229.7ms + task_specific_sample: mean=615.9ms, total=1.23s, count=2, min=536.5ms, max=695.3ms + scene_compile: mean=1.21s, total=1.21s, count=1, min=1207.9ms, max=1207.9ms + compile_mujoco: mean=828.4ms, total=828.4ms, count=1, min=828.4ms, max=828.4ms + compile_xml_load: mean=275.8ms, total=275.8ms, count=1, min=275.8ms, max=275.8ms + scene_init: mean=161.5ms, total=161.5ms, count=1, min=161.5ms, max=161.5ms + scene_asset_install: mean=55.8ms, total=55.8ms, count=1, min=55.8ms, max=55.8ms + compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms + compile_aux_policy_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + asset_install_grasps: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms + compile_robot_add: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms + asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms + asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms + scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.3ms, max=1.8ms + mj_forward_sync: mean=452.5us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=36.1us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:00:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:00:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:00:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:00:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:00:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:00:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:00:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:00:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:00:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015304m [env.py: 870] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:00:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64925004 0.68641144 0.01530441] yaw=-175.4deg [env.py: 1019] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02199604 1.29330697 0.01530441] yaw=-128.5deg [env.py: 1019] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78016534 0.93703902 0.01530441] yaw=-117.0deg [env.py: 1019] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:00:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.6ms, total=220.6ms [env.py: 1075] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.649, 0.686, 0.015) [env.py: 1079] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.4 deg [env.py: 1082] +05/12 09:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/12 09:00:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:00:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:00:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:00:27 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 09:00:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 09:00:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:00:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:00:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:00:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.592s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:00:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.638[m] 87.576[deg] [grasp_sample.py: 539] +05/12 09:00:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:00:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:00:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:00:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:00:37 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:00:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:00:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:00:37 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:00:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:00:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:00:52 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:00:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:00:52 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:00:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:00:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:00:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.73s (batch: 4.35s, save: 11.38s) [pipeline.py: 300] +05/12 09:00:53 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.49s: + episode_total: mean=190.61s, total=190.61s, count=1, min=190608.1ms, max=190608.1ms + sensor_polling: mean=442.3ms, total=132.69s, count=300, min=388.1ms, max=854.9ms + save_trajectories: mean=11.38s, total=11.38s, count=1, min=11377.0ms, max=11377.0ms + physics_step: mean=26.9ms, total=8.08s, count=300, min=21.9ms, max=37.8ms + save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4351.7ms, max=4351.7ms + task_sampling: mean=488.3ms, total=488.3ms, count=1, min=488.3ms, max=488.3ms + task_specific_sample: mean=483.6ms, total=483.6ms, count=1, min=483.6ms, max=483.6ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=455.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:00:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:00:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:00:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.37s (batch: 4.48s, save: 11.89s) [pipeline.py: 300] +05/12 09:00:54 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.20s: + episode_total: mean=206.85s, total=413.70s, count=2, min=201619.5ms, max=212078.2ms + sensor_polling: mean=435.2ms, total=186.27s, count=428, min=389.3ms, max=853.0ms + save_trajectories: mean=11.89s, total=11.89s, count=1, min=11890.5ms, max=11890.5ms + physics_step: mean=24.6ms, total=10.52s, count=428, min=17.1ms, max=37.9ms + save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4480.9ms, max=4480.9ms + task_sampling: mean=2.10s, total=4.20s, count=2, min=415.8ms, max=3785.0ms + scene_load: mean=3.24s, total=3.24s, count=1, min=3237.7ms, max=3237.7ms + scene_env_create: mean=2.17s, total=2.17s, count=1, min=2166.2ms, max=2166.2ms + task_specific_sample: mean=478.2ms, total=956.3ms, count=2, min=412.2ms, max=544.2ms + scene_compile: mean=889.7ms, total=889.7ms, count=1, min=889.7ms, max=889.7ms + compile_mujoco: mean=631.6ms, total=631.6ms, count=1, min=631.6ms, max=631.6ms + compile_xml_load: mean=186.1ms, total=186.1ms, count=1, min=186.1ms, max=186.1ms + scene_init: mean=116.4ms, total=116.4ms, count=1, min=116.4ms, max=116.4ms + scene_asset_install: mean=64.9ms, total=64.9ms, count=1, min=64.9ms, max=64.9ms + compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + compile_aux_policy_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + asset_install_grasps: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms + asset_install_objects: mean=14.2ms, total=14.2ms, count=1, min=14.2ms, max=14.2ms + compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.3ms, max=2.2ms + mj_forward_sync: mean=457.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=35.6us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:00:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:00:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:00:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:00:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:00:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:00:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:00:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:00:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:00:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:00:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:00:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069315m [env.py: 870] +05/12 09:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:00:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90886167 1.15671967 0.06931471] yaw=-167.8deg [env.py: 1019] +05/12 09:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67169016 0.78963112 0.06931471] yaw=-153.1deg [env.py: 1019] +05/12 09:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92521542 0.29873802 0.06931471] yaw=164.0deg [env.py: 1019] +05/12 09:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:00:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.8ms, total=135.8ms [env.py: 1075] +05/12 09:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 1.157, 0.069) [env.py: 1079] +05/12 09:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg [env.py: 1082] +05/12 09:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m [env.py: 1086] +05/12 09:00:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:00:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:00:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:00:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:00:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:00:55 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 09:00:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 09:00:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:00:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:00:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:00:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:00:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:00:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:00:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:00:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:00:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:00:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:00:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:00:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:00:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:00:56 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 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087901m [env.py: 870] +05/12 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:00:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79743964 0.91064537 0.08790134] yaw=-190.2deg [env.py: 1019] +05/12 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.83631033 0.33544344 0.08790134] yaw=139.8deg [env.py: 1019] +05/12 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:00:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=216.1ms, total=216.1ms [env.py: 1075] +05/12 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.911, 0.088) [env.py: 1079] +05/12 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -190.2 deg [env.py: 1082] +05/12 09:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/12 09:00:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:00:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:00:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:00:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:00:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:00:56 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 09:00:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/12 09:00:56 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 09:00:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:00:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:00:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.986s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:00:59 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.673[m] 85.506[deg] [grasp_sample.py: 539] +05/12 09:00:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.184s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:00:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.675[m] 91.621[deg] [grasp_sample.py: 539] +05/12 09:00:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:00:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:01:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:01:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:01:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:01:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:01:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:01:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:01:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.93s (batch: 4.37s, save: 12.56s) [pipeline.py: 300] +05/12 09:01:10 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.47s: + episode_total: mean=222.21s, total=222.21s, count=1, min=222214.4ms, max=222214.4ms + sensor_polling: mean=442.4ms, total=132.71s, count=300, min=376.5ms, max=764.9ms + save_trajectories: mean=12.56s, total=12.56s, count=1, min=12557.0ms, max=12557.0ms + physics_step: mean=26.2ms, total=7.87s, count=300, min=17.1ms, max=47.5ms + save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4374.1ms, max=4374.1ms + task_sampling: mean=473.4ms, total=473.4ms, count=1, min=473.4ms, max=473.4ms + task_specific_sample: mean=469.0ms, total=469.0ms, count=1, min=469.0ms, max=469.0ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=482.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:01:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:01:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:01:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:01:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:01:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:01:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:01:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:01:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:01:11 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 09:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073427m [env.py: 870] +05/12 09:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:01:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94594347 0.61326087 0.07342671] yaw=-174.2deg [env.py: 1019] +05/12 09:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:01:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.2ms, total=198.2ms [env.py: 1075] +05/12 09:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.613, 0.073) [env.py: 1079] +05/12 09:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.2 deg [env.py: 1082] +05/12 09:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.768m [env.py: 1086] +05/12 09:01:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:01:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:01:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:01:12 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 09:01:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/12 09:01:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:01:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:01:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:01:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.724s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:01:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.311[m] 86.681[deg] [grasp_sample.py: 539] +05/12 09:01:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:01:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:01:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:01:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:01:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:01:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:01:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:01:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:01:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:01:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:01:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:02:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:02:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:02:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:02:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:02:49 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:02:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:02:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:02:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:03:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:03:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:03:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:03:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:03:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:03:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:03:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:03:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:03:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 09:03:08 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.692s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:03:08 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.199[deg] [grasp_sample.py: 539] +05/12 09:03:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:03:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:03:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:03:13 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:03:16 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:03:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:03:16 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:03:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:03:21 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:03:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:03:28 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 09:03:28 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.44s: + episode_total: mean=153.11s, total=153.11s, count=1, min=153106.6ms, max=153106.6ms + sensor_polling: mean=419.1ms, total=125.72s, count=300, min=388.6ms, max=797.1ms + physics_step: mean=23.1ms, total=6.92s, count=300, min=21.4ms, max=32.5ms + task_sampling: mean=441.4ms, total=441.4ms, count=1, min=441.4ms, max=441.4ms + task_specific_sample: mean=437.2ms, total=437.2ms, count=1, min=437.2ms, max=437.2ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=460.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.5us, 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 09:03:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:03:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:03:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:03:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:03:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:03:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:03:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:03:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:03:29 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 09:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076357m [env.py: 870] +05/12 09:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:03:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92674693 0.99227019 0.0763574 ] yaw=-162.7deg [env.py: 1019] +05/12 09:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62657267 0.67738432 0.0763574 ] yaw=-168.4deg [env.py: 1019] +05/12 09:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81859912 0.09234183 0.0763574 ] yaw=183.7deg [env.py: 1019] +05/12 09:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:03:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=273.5ms, total=273.6ms [env.py: 1075] +05/12 09:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.992, 0.076) [env.py: 1079] +05/12 09:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.7 deg [env.py: 1082] +05/12 09:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/12 09:03:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:03:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:03:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:03:30 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 09:03:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/12 09:03:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:03:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:03:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:03:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.401s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:03:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.508[m] 87.210[deg] [grasp_sample.py: 539] +05/12 09:03:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:03:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:03:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:03:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:03:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:03:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.90s (batch: 4.91s, save: 11.99s) [pipeline.py: 300] +05/12 09:03:34 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.56s: + episode_total: mean=187.68s, total=187.68s, count=1, min=187680.5ms, max=187680.5ms + sensor_polling: mean=433.4ms, total=130.01s, count=300, min=393.7ms, max=873.3ms + save_trajectories: mean=11.99s, total=11.99s, count=1, min=11986.9ms, max=11986.9ms + physics_step: mean=25.5ms, total=7.66s, count=300, min=16.7ms, max=54.3ms + save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4909.7ms, max=4909.7ms + task_sampling: mean=562.6ms, total=562.6ms, count=1, min=562.6ms, max=562.6ms + task_specific_sample: mean=557.6ms, total=557.6ms, count=1, min=557.6ms, max=557.6ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=767.4us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:03:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:03:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:03:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:03:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:03:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:03:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:03:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:03:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:03:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032499m [env.py: 870] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:03:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9594854 0.35018477 0.03249869] yaw=137.0deg [env.py: 1019] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97224311 0.75332432 0.03249869] yaw=-123.5deg [env.py: 1019] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75521143 -0.01196175 0.03249869] yaw=135.0deg [env.py: 1019] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:03:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.4ms, total=172.5ms [env.py: 1075] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.350, 0.032) [env.py: 1079] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 137.0 deg [env.py: 1082] +05/12 09:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.754m [env.py: 1086] +05/12 09:03:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:03:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:03:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:03:36 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 09:03:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 09:03:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:03:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:03:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:03:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.770s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:03:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.409[m] 91.060[deg] [grasp_sample.py: 539] +05/12 09:03:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:03:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:03:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:03:42 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:03:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:03:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:03:48 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:03:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:03:48 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 09:03:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:03:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:03:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 17.09s (batch: 4.14s, save: 12.95s) [pipeline.py: 300] +05/12 09:04:00 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.50s: + episode_total: mean=184.08s, total=184.08s, count=1, min=184078.7ms, max=184078.7ms + sensor_polling: mean=413.2ms, total=123.96s, count=300, min=387.9ms, max=822.0ms + save_trajectories: mean=12.95s, total=12.95s, count=1, min=12946.6ms, max=12946.6ms + physics_step: mean=24.7ms, total=7.41s, count=300, min=16.8ms, max=32.6ms + save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4142.2ms, max=4142.2ms + task_sampling: mean=496.1ms, total=496.1ms, count=1, min=496.1ms, max=496.1ms + task_specific_sample: mean=491.1ms, total=491.1ms, count=1, min=491.1ms, max=491.1ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=571.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=24.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:04:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:04:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:04:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:04:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:04:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:04:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:04:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:04:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:04:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061542m [env.py: 870] +05/12 09:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:04:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93555013 0.78233381 0.06154228] yaw=-180.7deg [env.py: 1019] +05/12 09:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78122904 1.07583018 0.06154228] yaw=-151.6deg [env.py: 1019] +05/12 09:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84063684 0.73442648 0.06154228] yaw=-198.4deg [env.py: 1019] +05/12 09:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:04:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.5ms, total=104.5ms [env.py: 1075] +05/12 09:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.936, 0.782, 0.062) [env.py: 1079] +05/12 09:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.7 deg [env.py: 1082] +05/12 09:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/12 09:04:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:04:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:04:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:04:02 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 09:04:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/12 09:04:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:04:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:04:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:04:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:04:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:04:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 14.40s (batch: 4.02s, save: 10.38s) [pipeline.py: 300] +05/12 09:04:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.059s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:04:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.454[m] 102.488[deg] [grasp_sample.py: 539] +05/12 09:04:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:04:03 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.55s: + episode_total: mean=172.32s, total=172.32s, count=1, min=172321.0ms, max=172321.0ms + sensor_polling: mean=412.2ms, total=116.24s, count=282, min=378.8ms, max=788.9ms + save_trajectories: mean=10.38s, total=10.38s, count=1, min=10381.0ms, max=10381.0ms + physics_step: mean=26.2ms, total=7.39s, count=282, min=17.5ms, max=37.5ms + save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4021.5ms, max=4021.5ms + task_sampling: mean=551.2ms, total=551.2ms, count=1, min=551.2ms, max=551.2ms + task_specific_sample: mean=547.0ms, total=547.0ms, count=1, min=547.0ms, max=547.0ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=455.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=33.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:04:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:04:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:04:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:04:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:04:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:04:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:04:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:04:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:04:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:04:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:04:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:04:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:04:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:04:05 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 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055302m [env.py: 870] +05/12 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:04:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70654191 0.72628125 0.05530234] yaw=-198.8deg [env.py: 1019] +05/12 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88023497 0.39720391 0.05530234] yaw=205.8deg [env.py: 1019] +05/12 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87466925 0.76090084 0.05530234] yaw=-148.3deg [env.py: 1019] +05/12 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:04:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.5ms, total=162.5ms [env.py: 1075] +05/12 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.726, 0.055) [env.py: 1079] +05/12 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -198.8 deg [env.py: 1082] +05/12 09:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/12 09:04:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:04:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:04:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:04:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:04:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:04:05 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 09:04:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 09:04:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:04:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:04:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:04:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.849s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:04:08 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.695[m] 84.350[deg] [grasp_sample.py: 539] +05/12 09:04:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:04:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:04:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:04:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:04:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:04:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:04:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:04:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:04:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:04:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:04:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:04:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:05:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:05:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:05:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:05:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:05:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:05:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:05:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:05:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:05:18 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 09:05:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:05:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 09:05:19 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.737s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:05:19 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.458[deg] [grasp_sample.py: 539] +05/12 09:05:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:05:20 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:05:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:05:21 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 09:05:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:05:21 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 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064925m [env.py: 870] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:05:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99363388 0.96474749 0.06492471] yaw=-150.7deg [env.py: 1019] +05/12 09:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74297018 0.06954159 0.06492471] yaw=158.9deg [env.py: 1019] +05/12 09:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.12934821 1.16842628 0.06492471] yaw=-143.0deg [env.py: 1019] +05/12 09:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:05:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=162.4ms, total=162.4ms [env.py: 1075] +05/12 09:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.994, 0.965, 0.065) [env.py: 1079] +05/12 09:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.7 deg [env.py: 1082] +05/12 09:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/12 09:05:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:05:22 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 09:05:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 09:05:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:05:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:05:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:05:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:05:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.028s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:05:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.396[m] 77.915[deg] [grasp_sample.py: 539] +05/12 09:05:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:05:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:05:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:05:59 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:06:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:06:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:06:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:06:27 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:06:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:06:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:06:28 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:06:34 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:06:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:06:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:06:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 17.63s (batch: 4.20s, save: 13.43s) [pipeline.py: 300] +05/12 09:06:46 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.59s: + episode_total: mean=196.35s, total=196.35s, count=1, min=196354.4ms, max=196354.4ms + sensor_polling: mean=451.4ms, total=135.41s, count=300, min=393.6ms, max=941.7ms + save_trajectories: mean=13.43s, total=13.43s, count=1, min=13434.8ms, max=13434.8ms + physics_step: mean=27.3ms, total=8.19s, count=300, min=16.7ms, max=78.3ms + save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4197.2ms, max=4197.2ms + task_sampling: mean=593.4ms, total=593.4ms, count=1, min=593.4ms, max=593.4ms + task_specific_sample: mean=589.7ms, total=589.7ms, count=1, min=589.7ms, max=589.7ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=675.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=24.0us, 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 09:06:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:06:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:06:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:06:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:06:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:06:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:06:47 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 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084689m [env.py: 870] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:06:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94885286 1.03044243 0.0846886 ] yaw=-105.3deg [env.py: 1019] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64954753 0.59165596 0.0846886 ] yaw=-178.9deg [env.py: 1019] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98005121 0.74193379 0.0846886 ] yaw=-165.8deg [env.py: 1019] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:06:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=392.3ms, total=392.4ms [env.py: 1075] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 1.030, 0.085) [env.py: 1079] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -105.3 deg [env.py: 1082] +05/12 09:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/12 09:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:06:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:06:48 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 09:06:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s [base_object_manipulation_planner_policy.py: 377] +05/12 09:06:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:06:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:06:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:06:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.463s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:06:52 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.650[m] 100.169[deg] [grasp_sample.py: 539] +05/12 09:06:54 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:06:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:06:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:06:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:06:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:06:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:06:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:06:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:06:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:06:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:06:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:06:55 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 09:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044091m [env.py: 870] +05/12 09:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:06:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81771004 0.36449561 0.04409094] yaw=210.4deg [env.py: 1019] +05/12 09:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77503284 0.00261678 0.04409094] yaw=153.4deg [env.py: 1019] +05/12 09:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84848267 0.95025675 0.04409094] yaw=-144.0deg [env.py: 1019] +05/12 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:06:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=236.3ms, total=236.4ms [env.py: 1075] +05/12 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.818, 0.364, 0.044) [env.py: 1079] +05/12 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 210.4 deg [env.py: 1082] +05/12 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/12 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:06:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:06:56 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 09:06:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 09:06:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:06:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:06:56 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:06:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:06:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:06:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:06:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.640s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:06:59 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.586[m] 84.718[deg] [grasp_sample.py: 539] +05/12 09:06:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:06:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:06:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:07:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:07:03 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:07:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:07:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:07:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:07:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:07:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 18.61s (batch: 5.96s, save: 12.65s) [pipeline.py: 300] +05/12 09:07:15 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.52s: + episode_total: mean=190.55s, total=190.55s, count=1, min=190550.5ms, max=190550.5ms + sensor_polling: mean=429.0ms, total=128.71s, count=300, min=370.2ms, max=788.3ms + save_trajectories: mean=12.65s, total=12.65s, count=1, min=12649.9ms, max=12649.9ms + physics_step: mean=26.7ms, total=8.02s, count=300, min=17.5ms, max=34.2ms + save_batch_prep: mean=5.96s, total=5.96s, count=1, min=5959.3ms, max=5959.3ms + task_sampling: mean=518.7ms, total=518.7ms, count=1, min=518.7ms, max=518.7ms + task_specific_sample: mean=514.5ms, total=514.5ms, count=1, min=514.5ms, max=514.5ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=459.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=31.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:07:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:07:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:07:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:07:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:07:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:07:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:07:17 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 09:07:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:07:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061101m [env.py: 870] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:07:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77035278 0.98512118 0.06110146] yaw=-188.8deg [env.py: 1019] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77057993 0.28490126 0.06110146] yaw=181.0deg [env.py: 1019] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.72435112 0.18590503 0.06110146] yaw=140.2deg [env.py: 1019] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:07:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.1ms, total=182.1ms [env.py: 1075] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.985, 0.061) [env.py: 1079] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.8 deg [env.py: 1082] +05/12 09:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 09:07:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:07:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:07:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:07:17 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 09:07:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/12 09:07:17 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 09:07:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:07:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:07:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:07:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:07:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.96s (batch: 4.38s, save: 12.58s) [pipeline.py: 300] +05/12 09:07:20 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.43s: + episode_total: mean=199.20s, total=199.20s, count=1, min=199204.1ms, max=199204.1ms + sensor_polling: mean=462.2ms, total=138.67s, count=300, min=393.5ms, max=853.5ms + save_trajectories: mean=12.58s, total=12.58s, count=1, min=12582.6ms, max=12582.6ms + physics_step: mean=30.2ms, total=9.05s, count=300, min=21.5ms, max=53.5ms + save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4382.0ms, max=4382.0ms + task_sampling: mean=430.7ms, total=430.7ms, count=1, min=430.7ms, max=430.7ms + task_specific_sample: mean=426.7ms, total=426.7ms, count=1, min=426.7ms, max=426.7ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=458.0us, 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 09:07:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:07:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:07:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:07:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:07:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:07:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:07:22 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 09:07:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:07:22 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 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046187m [env.py: 870] +05/12 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:07:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93806746 0.59447694 0.04618662] yaw=-192.3deg [env.py: 1019] +05/12 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93723935 0.85862694 0.04618662] yaw=-167.1deg [env.py: 1019] +05/12 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84700613 1.06530455 0.04618662] yaw=-157.7deg [env.py: 1019] +05/12 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:07:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=151.5ms, total=151.5ms [env.py: 1075] +05/12 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.594, 0.046) [env.py: 1079] +05/12 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -192.3 deg [env.py: 1082] +05/12 09:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m [env.py: 1086] +05/12 09:07:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:07:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:07:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:07:22 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 09:07:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/12 09:07:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:07:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:07:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:07:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.890s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:07:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.349[m] 85.528[deg] [grasp_sample.py: 539] +05/12 09:07:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:07:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.121s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:07:24 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.746[m] 88.622[deg] [grasp_sample.py: 539] +05/12 09:07:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:07:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:07:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:07:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:07:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:07:53 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:07:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:07:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:08:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:08:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:08:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:08:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:08:23 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:08:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:08:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:08:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:08:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:08:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:08:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 17.10s (batch: 4.95s, save: 12.15s) [pipeline.py: 300] +05/12 09:08:41 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.90s: + episode_total: mean=151.89s, total=303.78s, count=2, min=104421.2ms, max=199357.8ms + sensor_polling: mean=459.0ms, total=221.23s, count=482, min=389.1ms, max=926.6ms + physics_step: mean=27.5ms, total=13.25s, count=482, min=16.9ms, max=155.2ms + save_trajectories: mean=12.15s, total=12.15s, count=1, min=12149.1ms, max=12149.1ms + save_batch_prep: mean=4.95s, total=4.95s, count=1, min=4946.3ms, max=4946.3ms + task_sampling: mean=450.1ms, total=900.3ms, count=2, min=423.1ms, max=477.1ms + task_specific_sample: mean=446.5ms, total=893.0ms, count=2, min=419.9ms, max=473.1ms + scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.3ms, max=2.5ms + mj_forward_sync: mean=458.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=20.8us, 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 09:08:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:08:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:08:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:08:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:08:43 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 09:08:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:08:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068793m [env.py: 870] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:08:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9085402 0.39860023 0.06879279] yaw=167.2deg [env.py: 1019] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6224441 0.44327697 0.06879279] yaw=159.6deg [env.py: 1019] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94049988 0.98454307 0.06879279] yaw=-182.3deg [env.py: 1019] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:08:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=202.0ms, total=202.1ms [env.py: 1075] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.399, 0.069) [env.py: 1079] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.2 deg [env.py: 1082] +05/12 09:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.798m [env.py: 1086] +05/12 09:08:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:08:43 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 09:08:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 09:08:43 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 09:08:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:08:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:08:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.794s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:08:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.322[m] 85.592[deg] [grasp_sample.py: 539] +05/12 09:08:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:08:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:08:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:08:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:08:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:08:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:09:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:09:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:09:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:09:33 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:09:51 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:10:01 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:10:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:10:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:10:04 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:10:17 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:10:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:10:17 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/12 09:10:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:10:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:10:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.65s (batch: 4.25s, save: 12.39s) [pipeline.py: 300] +05/12 09:10:19 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.38s: + episode_total: mean=105.09s, total=210.17s, count=2, min=6754.6ms, max=203417.2ms + sensor_polling: mean=471.0ms, total=141.31s, count=300, min=399.0ms, max=1030.3ms + save_trajectories: mean=12.39s, total=12.39s, count=1, min=12394.5ms, max=12394.5ms + physics_step: mean=29.4ms, total=8.81s, count=300, min=17.4ms, max=50.4ms + save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4251.6ms, max=4251.6ms + task_sampling: mean=689.3ms, total=1.38s, count=2, min=561.3ms, max=817.4ms + task_specific_sample: mean=684.8ms, total=1.37s, count=2, min=556.5ms, max=813.0ms + scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=2.0ms, max=2.6ms + mj_forward_sync: mean=620.8us, total=1.2ms, count=2, min=0.5ms, max=0.8ms + policy_setup: mean=27.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:10:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:10:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:10:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:10:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:10:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:10:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:10:21 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 09:10:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:10:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099541m [env.py: 870] +05/12 09:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:10:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94364792 0.46783853 0.09954084] yaw=177.7deg [env.py: 1019] +05/12 09:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70719881 0.27396253 0.09954084] yaw=190.9deg [env.py: 1019] +05/12 09:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:10:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=434.3ms, total=434.4ms [env.py: 1075] +05/12 09:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.468, 0.100) [env.py: 1079] +05/12 09:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.7 deg [env.py: 1082] +05/12 09:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.759m [env.py: 1086] +05/12 09:10:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:10:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:10:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:10:22 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 09:10:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/12 09:10:22 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 09:10:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:10:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:10:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.808s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:10:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.281[m] 86.712[deg] [grasp_sample.py: 539] +05/12 09:10:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:10:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:10:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:10:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:10:31 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:10:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:10:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:10:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:10:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:10:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.87s (batch: 4.34s, save: 11.53s) [pipeline.py: 300] +05/12 09:10:34 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.45s: + episode_total: mean=192.54s, total=192.54s, count=1, min=192543.7ms, max=192543.7ms + sensor_polling: mean=461.1ms, total=133.27s, count=289, min=399.0ms, max=855.6ms + save_trajectories: mean=11.53s, total=11.53s, count=1, min=11526.0ms, max=11526.0ms + physics_step: mean=28.9ms, total=8.34s, count=289, min=17.2ms, max=79.2ms + save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.8ms, max=4344.8ms + task_sampling: mean=454.7ms, total=454.7ms, count=1, min=454.7ms, max=454.7ms + task_specific_sample: mean=450.8ms, total=450.8ms, count=1, min=450.8ms, max=450.8ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=454.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.5us, 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 09:10:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:10:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:10:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:10:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:10:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:10:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:10:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:10:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:10:36 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 09:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013544m [env.py: 870] +05/12 09:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:10:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07635574 0.97581441 0.01354447] yaw=-160.2deg [env.py: 1019] +05/12 09:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78059825 0.50061649 0.01354447] yaw=-185.6deg [env.py: 1019] +05/12 09:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90682307 1.00099983 0.01354447] yaw=-170.1deg [env.py: 1019] +05/12 09:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:10:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.1ms, total=110.2ms [env.py: 1075] +05/12 09:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.076, 0.976, 0.014) [env.py: 1079] +05/12 09:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.2 deg [env.py: 1082] +05/12 09:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m [env.py: 1086] +05/12 09:10:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:10:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:10:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:10:36 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 09:10:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 09:10:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:10:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:10:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:10:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.824s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:10:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.415[m] 77.957[deg] [grasp_sample.py: 539] +05/12 09:10:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:10:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:10:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:10:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:10:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:10:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.26s (batch: 4.48s, save: 11.78s) [pipeline.py: 300] +05/12 09:10:48 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s: + episode_total: mean=211.01s, total=211.01s, count=1, min=211010.6ms, max=211010.6ms + sensor_polling: mean=489.8ms, total=146.93s, count=300, min=368.3ms, max=893.9ms + save_trajectories: mean=11.78s, total=11.78s, count=1, min=11778.4ms, max=11778.4ms + physics_step: mean=32.3ms, total=9.69s, count=300, min=21.5ms, max=57.5ms + save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4483.3ms, max=4483.3ms + task_sampling: mean=487.6ms, total=487.6ms, count=1, min=487.6ms, max=487.6ms + task_specific_sample: mean=483.5ms, total=483.5ms, count=1, min=483.5ms, max=483.5ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=475.0us, 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 09:10:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:10:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:10:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:10:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:10:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:10:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:10:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:10:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:10:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:10:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:10:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:10:49 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 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029919m [env.py: 870] +05/12 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:10:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82090237 0.22242169 0.02991866] yaw=140.8deg [env.py: 1019] +05/12 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.09196352 0.93524672 0.02991866] yaw=-106.0deg [env.py: 1019] +05/12 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.78055494 0.18613222 0.02991866] yaw=138.6deg [env.py: 1019] +05/12 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:10:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=172.1ms, total=172.2ms [env.py: 1075] +05/12 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.222, 0.030) [env.py: 1079] +05/12 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 140.8 deg [env.py: 1082] +05/12 09:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/12 09:10:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:10:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:10:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:10:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:10:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:10:50 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 09:10:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 09:10:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:10:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:10:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:10:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.925s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:10:51 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.527[m] 90.100[deg] [grasp_sample.py: 539] +05/12 09:10:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:10:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:10:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:10:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:11:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:11:12 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:11:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:11:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:11:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:11:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:11:42 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:11:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:11:42 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 09:11:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:11:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:11:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:11:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:11:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.95s (batch: 5.43s, save: 11.52s) [pipeline.py: 300] +05/12 09:12:00 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.51s: + episode_total: mean=197.27s, total=197.27s, count=1, min=197266.5ms, max=197266.5ms + sensor_polling: mean=453.4ms, total=128.78s, count=284, min=404.8ms, max=928.0ms + save_trajectories: mean=11.52s, total=11.52s, count=1, min=11518.5ms, max=11518.5ms + physics_step: mean=28.3ms, total=8.03s, count=284, min=21.6ms, max=56.9ms + save_batch_prep: mean=5.43s, total=5.43s, count=1, min=5433.0ms, max=5433.0ms + task_sampling: mean=512.4ms, total=512.4ms, count=1, min=512.4ms, max=512.4ms + task_specific_sample: mean=508.4ms, total=508.4ms, count=1, min=508.4ms, max=508.4ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=461.9us, 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 09:12:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:12:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:12:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:12:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:12:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:12:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:12:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:12:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:12:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031715m [env.py: 870] +05/12 09:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:12:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90528973 0.72250775 0.0317147 ] yaw=-159.6deg [env.py: 1019] +05/12 09:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84040122 0.11591939 0.0317147 ] yaw=150.5deg [env.py: 1019] +05/12 09:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72298659 0.06480852 0.0317147 ] yaw=161.7deg [env.py: 1019] +05/12 09:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:12:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.3ms, total=130.3ms [env.py: 1075] +05/12 09:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.905, 0.723, 0.032) [env.py: 1079] +05/12 09:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.6 deg [env.py: 1082] +05/12 09:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m [env.py: 1086] +05/12 09:12:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:12:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:12:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:12:02 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 09:12:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/12 09:12:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:12:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:12:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:12:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.934s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:12:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.403[m] 92.006[deg] [grasp_sample.py: 539] +05/12 09:12:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:12:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:12:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:12:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:12:40 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:12:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:12:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:12:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:12:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:12:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:12:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:12:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:12:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:13:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:13:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:13:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:13:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:13:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:13:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:13:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:13:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:13:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:13:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:13:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:13:07 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:13:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:13:07 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 09:13:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:13:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:13:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 09:13:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:13:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:13:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:13:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:13:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:13:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:13:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 09:13:10 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.669s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:13:10 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.773[deg] [grasp_sample.py: 539] +05/12 09:13:10 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.764s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:13:10 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.233[deg] [grasp_sample.py: 539] +05/12 09:13:11 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:13:12 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:13:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:13:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:13:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:13:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:13:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:13:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:13:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:13:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:13:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007682m [env.py: 870] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:13:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75860198 0.45359373 0.00768166] yaw=203.3deg [env.py: 1019] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07475219 1.2517102 0.00768166] yaw=-116.7deg [env.py: 1019] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79359135 0.87263767 0.00768166] yaw=-141.4deg [env.py: 1019] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:13:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.1ms, total=132.1ms [env.py: 1075] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.454, 0.008) [env.py: 1079] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 203.3 deg [env.py: 1082] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m [env.py: 1086] +05/12 09:13:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:13:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:13:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:13:13 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 09:13:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 09:13:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:13:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:13:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:13:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:13:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:13:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:13:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:13:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:13:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:13:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:13:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:13:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007586m [env.py: 870] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:13:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92023019 0.20550975 0.00758612] yaw=171.2deg [env.py: 1019] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82844411 0.29572211 0.00758612] yaw=179.5deg [env.py: 1019] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.7220041 0.97247761 0.00758612] yaw=-183.6deg [env.py: 1019] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:13:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.6ms, total=207.6ms [env.py: 1075] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.920, 0.206, 0.008) [env.py: 1079] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.2 deg [env.py: 1082] +05/12 09:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/12 09:13:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:13:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:13:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:13:14 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 09:13:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/12 09:13:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:13:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:13:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:13:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.068s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:13:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.554[m] 81.340[deg] [grasp_sample.py: 539] +05/12 09:13:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:13:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.827s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:13:15 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.402[m] 86.725[deg] [grasp_sample.py: 539] +05/12 09:13:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:13:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:13:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:13:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:13:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:13:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:13:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:13:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:13:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:13:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.05s (batch: 5.06s, save: 10.99s) [pipeline.py: 300] +05/12 09:13:24 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.82s: + episode_total: mean=182.85s, total=182.85s, count=1, min=182846.1ms, max=182846.1ms + sensor_polling: mean=442.8ms, total=122.22s, count=276, min=392.2ms, max=1009.5ms + save_trajectories: mean=10.99s, total=10.99s, count=1, min=10988.9ms, max=10988.9ms + physics_step: mean=28.2ms, total=7.78s, count=276, min=16.7ms, max=37.6ms + save_batch_prep: mean=5.06s, total=5.06s, count=1, min=5063.3ms, max=5063.3ms + task_sampling: mean=823.8ms, total=823.8ms, count=1, min=823.8ms, max=823.8ms + task_specific_sample: mean=819.1ms, total=819.1ms, count=1, min=819.1ms, max=819.1ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=451.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=26.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:13:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:13:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:13:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:13:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:13:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:13:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:13:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:13:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:13:26 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 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018082m [env.py: 870] +05/12 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:13:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65126696 0.44842337 0.01808226] yaw=159.8deg [env.py: 1019] +05/12 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77459646 0.39897692 0.01808226] yaw=154.8deg [env.py: 1019] +05/12 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68999205 0.31290661 0.01808226] yaw=174.0deg [env.py: 1019] +05/12 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:13:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=166.0ms, total=166.0ms [env.py: 1075] +05/12 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.651, 0.448, 0.018) [env.py: 1079] +05/12 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.8 deg [env.py: 1082] +05/12 09:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/12 09:13:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:13:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:13:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:13:26 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 09:13:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.209s [base_object_manipulation_planner_policy.py: 377] +05/12 09:13:26 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 09:13:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:13:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:13:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.560s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:13:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.670[m] 102.382[deg] [grasp_sample.py: 539] +05/12 09:13:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:13:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:13:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:13:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:13:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:14:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:14:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:14:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:14:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:14:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:14:24 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:14:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:14:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:14:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:14:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:14:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:14:51 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:14:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:14:51 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:14:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:14:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:14:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:14:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:15:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:15:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:15:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:15:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 09:15:01 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.694s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:15:01 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.564[deg] [grasp_sample.py: 539] +05/12 09:15:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:15:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:15:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:15:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:15:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:15:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.51s (batch: 4.18s, save: 11.32s) [pipeline.py: 300] +05/12 09:15:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:07 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.45s: + episode_total: mean=185.51s, total=185.51s, count=1, min=185505.9ms, max=185505.9ms + sensor_polling: mean=433.2ms, total=129.95s, count=300, min=392.5ms, max=971.3ms + save_trajectories: mean=11.32s, total=11.32s, count=1, min=11322.5ms, max=11322.5ms + physics_step: mean=24.9ms, total=7.47s, count=300, min=21.6ms, max=32.9ms + save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4184.5ms, max=4184.5ms + task_sampling: mean=451.1ms, total=451.1ms, count=1, min=451.1ms, max=451.1ms + task_specific_sample: mean=447.1ms, total=447.1ms, count=1, min=447.1ms, max=447.1ms + 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=26.5us, 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 09:15:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:15:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:15:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:15:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:15:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:15:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:15:09 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 09:15:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:15:09 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 09:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037809m [env.py: 870] +05/12 09:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:15:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95346205 0.80245896 0.03780855] yaw=-129.0deg [env.py: 1019] +05/12 09:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7729838 0.51078554 0.03780855] yaw=-214.3deg [env.py: 1019] +05/12 09:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83849634 0.16084619 0.03780855] yaw=129.2deg [env.py: 1019] +05/12 09:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:15:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=127.9ms, total=128.0ms [env.py: 1075] +05/12 09:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.802, 0.038) [env.py: 1079] +05/12 09:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.0 deg [env.py: 1082] +05/12 09:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/12 09:15:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:15:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:15:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:15:09 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 09:15:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/12 09:15:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:15:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:15:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:15:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.869s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:15:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.442[m] 90.565[deg] [grasp_sample.py: 539] +05/12 09:15:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:15:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:15:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:15:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:15:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:15:15 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 09:15:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:15:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 09:15:16 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.699s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:15:16 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.512[deg] [grasp_sample.py: 539] +05/12 09:15:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:15:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:15:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:15:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:15:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:15:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:15:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:15:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 09:15:32 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.674s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:15:32 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.512[deg] [grasp_sample.py: 539] +05/12 09:15:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:15:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:15:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:15:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:38 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:15:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:15:47 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 09:15:47 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 09:15:47 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=False episode_total=0.99s: + episode_total: mean=148.11s, total=296.21s, count=2, min=142388.5ms, max=153825.5ms + sensor_polling: mean=432.7ms, total=213.77s, count=494, min=379.5ms, max=957.6ms + physics_step: mean=26.0ms, total=12.83s, count=494, min=14.6ms, max=42.8ms + task_sampling: mean=495.2ms, total=990.4ms, count=2, min=491.1ms, max=499.3ms + task_specific_sample: mean=490.5ms, total=981.1ms, count=2, min=487.0ms, max=494.1ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.0ms, max=2.6ms + mj_forward_sync: mean=458.9us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=29.2us, 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 09:15:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:15:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:15:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:15:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:15:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:15:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:15:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:15:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061650m [env.py: 870] +05/12 09:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:15:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82611627 0.81672105 0.06165016] yaw=-146.9deg [env.py: 1019] +05/12 09:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03180609 1.19137311 0.06165016] yaw=-152.4deg [env.py: 1019] +05/12 09:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92467832 1.20507765 0.06165016] yaw=-144.2deg [env.py: 1019] +05/12 09:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:15:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=188.2ms, total=188.2ms [env.py: 1075] +05/12 09:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.826, 0.817, 0.062) [env.py: 1079] +05/12 09:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.9 deg [env.py: 1082] +05/12 09:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m [env.py: 1086] +05/12 09:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:15:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:15:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:15:49 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 09:15:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 09:15:49 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 09:15:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:15:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:15:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.021s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:15:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.558[m] 100.243[deg] [grasp_sample.py: 539] +05/12 09:15:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:15:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:15:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:15:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:15:51 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 09:15:56 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:15:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:16:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:16:07 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:16:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:16:07 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:16:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:16:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:16:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.31s (batch: 4.64s, save: 11.67s) [pipeline.py: 300] +05/12 09:16:24 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.82s: + episode_total: mean=173.56s, total=347.11s, count=2, min=155382.2ms, max=191729.1ms + sensor_polling: mean=444.9ms, total=262.50s, count=590, min=398.0ms, max=958.3ms + physics_step: mean=25.5ms, total=15.02s, count=590, min=17.0ms, max=38.0ms + save_trajectories: mean=11.67s, total=11.67s, count=1, min=11669.4ms, max=11669.4ms + save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4641.6ms, max=4641.6ms + task_sampling: mean=411.0ms, total=821.9ms, count=2, min=403.9ms, max=418.0ms + task_specific_sample: mean=407.3ms, total=814.7ms, count=2, min=400.7ms, max=414.0ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.3ms, max=2.6ms + mj_forward_sync: mean=456.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=23.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:16:25 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:16:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:16:25 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:16:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:16:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:16:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:16:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:16:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:16:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:16:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:16:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:16:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:16:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:16:26 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 09:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045984m [env.py: 870] +05/12 09:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:16:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05129802 0.99752038 0.04598385] yaw=-133.5deg [env.py: 1019] +05/12 09:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75352286 0.57632923 0.04598385] yaw=-160.3deg [env.py: 1019] +05/12 09:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88246852 0.33620052 0.04598385] yaw=132.9deg [env.py: 1019] +05/12 09:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:16:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.4ms [env.py: 1075] +05/12 09:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.051, 0.998, 0.046) [env.py: 1079] +05/12 09:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.5 deg [env.py: 1082] +05/12 09:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/12 09:16:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:16:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:16:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:16:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:16:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:16:26 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 09:16:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/12 09:16:26 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 09:16:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:16:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:16:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.011s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:16:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.410[m] 91.085[deg] [grasp_sample.py: 539] +05/12 09:16:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:16:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:16:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:16:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:16:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:16:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.53s (batch: 4.60s, save: 10.93s) [pipeline.py: 300] +05/12 09:16:41 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.59s: + episode_total: mean=195.62s, total=195.62s, count=1, min=195619.0ms, max=195619.0ms + sensor_polling: mean=458.1ms, total=137.42s, count=300, min=396.5ms, max=1039.9ms + save_trajectories: mean=10.93s, total=10.93s, count=1, min=10930.7ms, max=10930.7ms + physics_step: mean=25.9ms, total=7.76s, count=300, min=16.7ms, max=36.4ms + save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4603.0ms, max=4603.0ms + task_sampling: mean=590.3ms, total=590.3ms, count=1, min=590.3ms, max=590.3ms + task_specific_sample: mean=583.4ms, total=583.4ms, count=1, min=583.4ms, max=583.4ms + scene_randomize: mean=5.3ms, total=5.3ms, count=1, min=5.3ms, max=5.3ms + mj_forward_sync: mean=449.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=39.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:16:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:16:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:16:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:16:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:16:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:16:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:16:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:16:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:16:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:16:43 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 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013974m [env.py: 870] +05/12 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:16:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02480574 0.94986515 0.01397369] yaw=-128.4deg [env.py: 1019] +05/12 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76777911 0.8971699 0.01397369] yaw=-122.5deg [env.py: 1019] +05/12 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80007407 0.62732316 0.01397369] yaw=-182.9deg [env.py: 1019] +05/12 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:16:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.0ms, total=166.1ms [env.py: 1075] +05/12 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.025, 0.950, 0.014) [env.py: 1079] +05/12 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.4 deg [env.py: 1082] +05/12 09:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m [env.py: 1086] +05/12 09:16:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:16:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:16:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:16:43 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 09:16:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/12 09:16:43 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 09:16:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:16:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:16:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.220s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:16:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.430[m] 88.857[deg] [grasp_sample.py: 539] +05/12 09:16:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:16:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:16:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:16:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:16:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:17:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:17:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:17:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:17:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:17:35 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:17:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:17:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:18:01 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:18:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:18:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:18:11 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:18:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:18:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:18:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.66s (batch: 3.77s, save: 11.89s) [pipeline.py: 300] +05/12 09:18:18 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.43s: + episode_total: mean=189.04s, total=189.04s, count=1, min=189043.3ms, max=189043.3ms + sensor_polling: mean=448.1ms, total=134.42s, count=300, min=393.7ms, max=935.9ms + save_trajectories: mean=11.89s, total=11.89s, count=1, min=11892.8ms, max=11892.8ms + physics_step: mean=26.1ms, total=7.84s, count=300, min=17.9ms, max=37.1ms + save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3768.7ms, max=3768.7ms + task_sampling: mean=426.4ms, total=426.4ms, count=1, min=426.4ms, max=426.4ms + task_specific_sample: mean=422.5ms, total=422.5ms, count=1, min=422.5ms, max=422.5ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=453.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:18:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:18:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:18:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:18:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:18:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:18:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:18:19 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 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073034m [env.py: 870] +05/12 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:18:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83261193 0.1277247 0.07303393] yaw=196.8deg [env.py: 1019] +05/12 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85360611 0.49949018 0.07303393] yaw=-213.0deg [env.py: 1019] +05/12 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97864784 0.91776952 0.07303393] yaw=-159.9deg [env.py: 1019] +05/12 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:18:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.8ms, total=184.8ms [env.py: 1075] +05/12 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.128, 0.073) [env.py: 1079] +05/12 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 196.8 deg [env.py: 1082] +05/12 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m [env.py: 1086] +05/12 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:18:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:18:20 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 09:18:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 09:18:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:18:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:18:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:18:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.484s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:18:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.670[m] 96.370[deg] [grasp_sample.py: 539] +05/12 09:18:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:18:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:18:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:18:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:18:42 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:18:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:18:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:18:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:18:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:18:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:18:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:18:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:18:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.89s (batch: 4.50s, save: 12.40s) [pipeline.py: 300] +05/12 09:18:59 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.49s: + episode_total: mean=190.56s, total=190.56s, count=1, min=190562.8ms, max=190562.8ms + sensor_polling: mean=432.6ms, total=129.77s, count=300, min=367.4ms, max=952.2ms + save_trajectories: mean=12.40s, total=12.40s, count=1, min=12395.7ms, max=12395.7ms + physics_step: mean=26.7ms, total=8.01s, count=300, min=19.5ms, max=45.2ms + save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4496.0ms, max=4496.0ms + task_sampling: mean=488.2ms, total=488.2ms, count=1, min=488.2ms, max=488.2ms + task_specific_sample: mean=480.6ms, total=480.6ms, count=1, min=480.6ms, max=480.6ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=934.2us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + 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 09:19:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:19:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:19:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:19:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:19:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:19:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:19:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:19:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:19:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:19:01 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 09:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035470m [env.py: 870] +05/12 09:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:19:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69602299 0.1440147 0.0354701 ] yaw=134.4deg [env.py: 1019] +05/12 09:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72335794 0.13983404 0.0354701 ] yaw=182.3deg [env.py: 1019] +05/12 09:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7496644 0.46644285 0.0354701 ] yaw=182.8deg [env.py: 1019] +05/12 09:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:19:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=236.0ms, total=236.1ms [env.py: 1075] +05/12 09:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.696, 0.144, 0.035) [env.py: 1079] +05/12 09:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 134.4 deg [env.py: 1082] +05/12 09:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/12 09:19:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:19:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:19:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:19:02 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 09:19:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.159s [base_object_manipulation_planner_policy.py: 377] +05/12 09:19:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:19:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:19:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.109s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:19:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:19:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:19:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.852s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:19:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.677[m] 93.196[deg] [grasp_sample.py: 539] +05/12 09:19:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:19:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:19:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:19:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:19:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:19:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:19:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:19:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:19:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:19:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 09:19:10 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.768s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:19:10 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.110[m] 7.885[deg] [grasp_sample.py: 539] +05/12 09:19:11 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:19:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:19:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:19:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:19:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:19:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:19:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:19:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:19:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:19:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:19:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:19:13 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 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026105m [env.py: 870] +05/12 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:19:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94536785 1.05871475 0.02610489] yaw=-118.1deg [env.py: 1019] +05/12 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92003514 0.93026999 0.02610489] yaw=-189.5deg [env.py: 1019] +05/12 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77596462 0.75999851 0.02610489] yaw=-158.9deg [env.py: 1019] +05/12 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:19:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=391.0ms, total=391.1ms [env.py: 1075] +05/12 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.945, 1.059, 0.026) [env.py: 1079] +05/12 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -118.1 deg [env.py: 1082] +05/12 09:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m [env.py: 1086] +05/12 09:19:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:19:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:19:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:19:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:19:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:19:14 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 09:19:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/12 09:19:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:19:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:19:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:19:16 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:19:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.071s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:19:18 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.590[m] 83.315[deg] [grasp_sample.py: 539] +05/12 09:19:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:19:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:19:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:19:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:19:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:19:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:19:44 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:19:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:19:44 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:20:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:20:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:20:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.67s (batch: 3.68s, save: 12.00s) [pipeline.py: 300] +05/12 09:20:00 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.50s: + episode_total: mean=197.73s, total=197.73s, count=1, min=197734.8ms, max=197734.8ms + sensor_polling: mean=467.6ms, total=140.28s, count=300, min=391.7ms, max=974.4ms + save_trajectories: mean=12.00s, total=12.00s, count=1, min=11996.3ms, max=11996.3ms + physics_step: mean=28.3ms, total=8.48s, count=300, min=17.3ms, max=68.3ms + save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3678.2ms, max=3678.2ms + task_sampling: mean=501.6ms, total=501.6ms, count=1, min=501.6ms, max=501.6ms + task_specific_sample: mean=497.0ms, total=497.0ms, count=1, min=497.0ms, max=497.0ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=460.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:20:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:20:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:20:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:20:02 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 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005992m [env.py: 870] +05/12 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:20:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84590295 0.61147951 0.00599181] yaw=-137.1deg [env.py: 1019] +05/12 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93157049 1.02415535 0.00599181] yaw=-134.9deg [env.py: 1019] +05/12 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86475076 0.21474272 0.00599181] yaw=194.1deg [env.py: 1019] +05/12 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:20:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.9ms, total=202.9ms [env.py: 1075] +05/12 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.846, 0.611, 0.006) [env.py: 1079] +05/12 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.1 deg [env.py: 1082] +05/12 09:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/12 09:20:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:20:02 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 09:20:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.174s [base_object_manipulation_planner_policy.py: 377] +05/12 09:20:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:20:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:20:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:20:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.992s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:20:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.521[m] 87.487[deg] [grasp_sample.py: 539] +05/12 09:20:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:20:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:20:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:20:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:20:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:20:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:20:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:20:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:20:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:20:33 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 09:20:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:20:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:20:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:20:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 09:20:34 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.734s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:20:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.114[m] 2.397[deg] [grasp_sample.py: 539] +05/12 09:20:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:20:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:20:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:20:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:20:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:20:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:20:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:20:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:20:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:20:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:21:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:21:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:21:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:21:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:21:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:21:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 09:21:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:07 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.704s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:21:07 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.443[deg] [grasp_sample.py: 539] +05/12 09:21:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:21:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:21:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:21:08 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:21:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:21:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:21:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:21:18 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 09:21:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:21:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 09:21:18 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.781s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:21:18 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.198[deg] [grasp_sample.py: 539] +05/12 09:21:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:21:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:21:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:21:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:21:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:21:33 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:21:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:21:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:21:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:21:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:47 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 09:21:47 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=1.16s: + episode_total: mean=159.68s, total=319.36s, count=2, min=154060.7ms, max=165294.8ms + sensor_polling: mean=459.4ms, total=275.17s, count=599, min=391.7ms, max=980.6ms + physics_step: mean=27.0ms, total=16.20s, count=599, min=17.8ms, max=63.4ms + task_sampling: mean=581.3ms, total=1.16s, count=2, min=422.5ms, max=740.2ms + task_specific_sample: mean=576.2ms, total=1.15s, count=2, min=418.4ms, max=734.0ms + scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=2.4ms, max=2.6ms + mj_forward_sync: mean=547.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=36.4us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:21:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:21:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:21:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 14.55s (batch: 3.58s, save: 10.98s) [pipeline.py: 300] +05/12 09:21:48 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.49s: + episode_total: mean=209.21s, total=209.21s, count=1, min=209205.9ms, max=209205.9ms + sensor_polling: mean=472.6ms, total=141.79s, count=300, min=400.3ms, max=947.3ms + save_trajectories: mean=10.98s, total=10.98s, count=1, min=10976.8ms, max=10976.8ms + physics_step: mean=27.3ms, total=8.20s, count=300, min=16.0ms, max=69.2ms + save_batch_prep: mean=3.58s, total=3.58s, count=1, min=3578.0ms, max=3578.0ms + task_sampling: mean=492.4ms, total=492.4ms, count=1, min=492.4ms, max=492.4ms + task_specific_sample: mean=488.5ms, total=488.5ms, count=1, min=488.5ms, max=488.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=456.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:21:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:21:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:21:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:21:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:21:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:21:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:21:48 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 09:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043100m [env.py: 870] +05/12 09:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:21:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89877453 0.93235669 0.04310021] yaw=-130.2deg [env.py: 1019] +05/12 09:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01356284 1.08279659 0.04310021] yaw=-103.6deg [env.py: 1019] +05/12 09:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08513014 1.05462289 0.04310021] yaw=-147.2deg [env.py: 1019] +05/12 09:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:21:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.3ms, total=147.4ms [env.py: 1075] +05/12 09:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.932, 0.043) [env.py: 1079] +05/12 09:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.2 deg [env.py: 1082] +05/12 09:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m [env.py: 1086] +05/12 09:21:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:21:49 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 09:21:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/12 09:21:49 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 09:21:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:21:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:21:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:21:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:21:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:21:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:21:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:21:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:21:50 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 09:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024319m [env.py: 870] +05/12 09:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:21:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62717559 0.43913836 0.02431856] yaw=142.9deg [env.py: 1019] +05/12 09:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0023386 1.17049166 0.02431856] yaw=-98.5deg [env.py: 1019] +05/12 09:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02386567 1.26964204 0.02431856] yaw=-139.9deg [env.py: 1019] +05/12 09:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:21:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.4ms, total=111.5ms [env.py: 1075] +05/12 09:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.627, 0.439, 0.024) [env.py: 1079] +05/12 09:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.9 deg [env.py: 1082] +05/12 09:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/12 09:21:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:21:50 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 09:21:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/12 09:21:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:21:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:21:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:21:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.786s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:21:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.525[m] 92.197[deg] [grasp_sample.py: 539] +05/12 09:21:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:21:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:21:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:21:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:21:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:21:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:21:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 09:21:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:21:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:21:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:21:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.913s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:21:53 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.750[m] 97.754[deg] [grasp_sample.py: 539] +05/12 09:21:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:21:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:21:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:21:54 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.056s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:21:54 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.538[deg] [grasp_sample.py: 539] +05/12 09:21:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:21:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:21:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:21:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:21:55 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 09:21:55 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=0.66s: + episode_total: mean=173.90s, total=173.90s, count=1, min=173896.9ms, max=173896.9ms + sensor_polling: mean=453.1ms, total=135.92s, count=300, min=383.2ms, max=971.2ms + physics_step: mean=27.1ms, total=8.12s, count=300, min=15.2ms, max=39.4ms + task_sampling: mean=655.1ms, total=655.1ms, count=1, min=655.1ms, max=655.1ms + task_specific_sample: mean=649.3ms, total=649.3ms, count=1, min=649.3ms, max=649.3ms + scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + mj_forward_sync: mean=569.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=14.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:21:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:21:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:21:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:21:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:21:57 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 09:21:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:21:57 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 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073172m [env.py: 870] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:21:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81263285 0.21608846 0.07317179] yaw=135.1deg [env.py: 1019] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92740699 1.18744677 0.07317179] yaw=-169.3deg [env.py: 1019] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.77417306 0.83998917 0.07317179] yaw=-173.6deg [env.py: 1019] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:21:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=333.0ms, total=333.1ms [env.py: 1075] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.813, 0.216, 0.073) [env.py: 1079] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 135.1 deg [env.py: 1082] +05/12 09:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/12 09:21:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:21:57 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 09:21:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 09:21:57 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 09:21:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:21:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:21:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.736s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:21:59 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.565[m] 92.538[deg] [grasp_sample.py: 539] +05/12 09:21:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:22:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:22:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:22:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:22:31 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:22:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:22:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:22:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:22:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:22:58 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:22:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:22:58 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:23:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:23:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:23:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:23:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:23:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:23:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.59s (batch: 3.86s, save: 12.73s) [pipeline.py: 300] +05/12 09:23:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:23:15 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.52s: + episode_total: mean=193.22s, total=193.22s, count=1, min=193220.1ms, max=193220.1ms + sensor_polling: mean=449.8ms, total=134.93s, count=300, min=387.4ms, max=982.6ms + save_trajectories: mean=12.73s, total=12.73s, count=1, min=12725.4ms, max=12725.4ms + physics_step: mean=25.7ms, total=7.70s, count=300, min=21.6ms, max=39.3ms + save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3862.3ms, max=3862.3ms + task_sampling: mean=516.9ms, total=516.9ms, count=1, min=516.9ms, max=516.9ms + task_specific_sample: mean=512.7ms, total=512.7ms, count=1, min=512.7ms, max=512.7ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=460.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:23:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:23:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:23:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:23:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:23:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:23:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:23:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012426m [env.py: 870] +05/12 09:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:23:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69501115 0.06329008 0.01242624] yaw=138.0deg [env.py: 1019] +05/12 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94953875 0.89022918 0.01242624] yaw=-125.7deg [env.py: 1019] +05/12 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96707684 0.11786236 0.01242624] yaw=187.6deg [env.py: 1019] +05/12 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:23:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=545.5ms, total=545.6ms [env.py: 1075] +05/12 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.063, 0.012) [env.py: 1079] +05/12 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 138.0 deg [env.py: 1082] +05/12 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m [env.py: 1086] +05/12 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:23:17 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 09:23:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 09:23:17 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 09:23:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:23:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:23:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:23:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.790s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:23:20 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.683[m] 94.988[deg] [grasp_sample.py: 539] +05/12 09:23:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:23:22 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:23:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:23:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:23:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:23:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:23:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:23:23 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 09:23:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:23:23 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 09:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080199m [env.py: 870] +05/12 09:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:23:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76934085 0.32133474 0.08019892] yaw=178.0deg [env.py: 1019] +05/12 09:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07566571 1.23571934 0.08019892] yaw=-90.5deg [env.py: 1019] +05/12 09:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98967337 0.88060583 0.08019892] yaw=-118.2deg [env.py: 1019] +05/12 09:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:23:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.2ms, total=192.2ms [env.py: 1075] +05/12 09:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.321, 0.080) [env.py: 1079] +05/12 09:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.0 deg [env.py: 1082] +05/12 09:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m [env.py: 1086] +05/12 09:23:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:23:23 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 09:23:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 09:23:23 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 09:23:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:23:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:23:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:23:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:23:24 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 09:23:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:23:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:23:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.086s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:23:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.532[m] 89.200[deg] [grasp_sample.py: 539] +05/12 09:23:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:23:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:23:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:23:26 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 09:23:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.718s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:23:27 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.064[m] 4.194[deg] [grasp_sample.py: 539] +05/12 09:23:28 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:23:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:23:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:23:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:23:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:23:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:23:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:23:30 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 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000697m [env.py: 870] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:23:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00906119e+00 8.75137760e-01 6.97465599e-04] yaw=-123.8deg [env.py: 1019] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-7.19923521e-01 6.00214519e-01 6.97465599e-04] yaw=-161.1deg [env.py: 1019] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-8.84518750e-01 2.89778827e-01 6.97465599e-04] yaw=138.5deg [env.py: 1019] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:23:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=119.4ms, total=119.4ms [env.py: 1075] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.009, 0.875, 0.001) [env.py: 1079] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.8 deg [env.py: 1082] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m [env.py: 1086] +05/12 09:23:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:23:30 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 09:23:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 09:23:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:23:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:23:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:23:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.031s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:23:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.403[m] 83.508[deg] [grasp_sample.py: 539] +05/12 09:23:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:23:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:23:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:24:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:24:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:24:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:24:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:24:18 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:24:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:24:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:24:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:24:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:24:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:24:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:24:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:24:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:24:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:24:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:24:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:24:29 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 09:24:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:24:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 09:24:29 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.697s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:24:29 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.034[m] 0.600[deg] [grasp_sample.py: 539] +05/12 09:24:31 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:24:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:24:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:24:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:24:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:24:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:24:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:24:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:24:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:24:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:24:32 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 09:24:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:24:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074096m [env.py: 870] +05/12 09:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:24:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89896966 0.28557139 0.07409566] yaw=155.6deg [env.py: 1019] +05/12 09:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67743334 0.5263571 0.07409566] yaw=-151.5deg [env.py: 1019] +05/12 09:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:24:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=403.6ms, total=403.7ms [env.py: 1075] +05/12 09:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.286, 0.074) [env.py: 1079] +05/12 09:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.6 deg [env.py: 1082] +05/12 09:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/12 09:24:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:24:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:24:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:24:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:24:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:24:33 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 09:24:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 09:24:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:24:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:24:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:24:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.844s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:24:34 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.428[m] 96.858[deg] [grasp_sample.py: 539] +05/12 09:24:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:24:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:24:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:24:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:24:48 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:24:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:24:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:25:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:25:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:25:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 16.96s (batch: 4.43s, save: 12.52s) [pipeline.py: 300] +05/12 09:25:06 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.42s: + episode_total: mean=197.49s, total=197.49s, count=1, min=197488.1ms, max=197488.1ms + sensor_polling: mean=449.6ms, total=134.89s, count=300, min=389.3ms, max=995.7ms + save_trajectories: mean=12.52s, total=12.52s, count=1, min=12524.5ms, max=12524.5ms + physics_step: mean=27.8ms, total=8.33s, count=300, min=21.5ms, max=37.3ms + save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4430.9ms, max=4430.9ms + task_sampling: mean=421.7ms, total=421.7ms, count=1, min=421.7ms, max=421.7ms + task_specific_sample: mean=417.8ms, total=417.8ms, count=1, min=417.8ms, max=417.8ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=469.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=13.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:25:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:25:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:25:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:25:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:25:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:25:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:25:08 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 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098914m [env.py: 870] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:25:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1367337 0.99209251 0.0989141 ] yaw=-116.7deg [env.py: 1019] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68704743 0.23563969 0.0989141 ] yaw=192.1deg [env.py: 1019] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8274875 0.69608946 0.0989141 ] yaw=-165.8deg [env.py: 1019] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:25:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=575.5ms, total=575.6ms [env.py: 1075] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.137, 0.992, 0.099) [env.py: 1079] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.7 deg [env.py: 1082] +05/12 09:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.762m [env.py: 1086] +05/12 09:25:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:25:08 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 09:25:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 09:25:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:25:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:25:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:25:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.966s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:25:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.354[m] 88.073[deg] [grasp_sample.py: 539] +05/12 09:25:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:25:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:25:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:25:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:25:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:25:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:25:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:25:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:25:56 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:25:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:26:06 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 09:26:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:26:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:26:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:26:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:26:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:26:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:26:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:26:25 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:26:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:26:25 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:26:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:26:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:26:26 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 09:26:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:26:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 09:26:27 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.771s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:26:27 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.231[deg] [grasp_sample.py: 539] +05/12 09:26:28 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:26:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:26:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:26:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:26:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:26:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:26:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:26:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007508m [env.py: 870] +05/12 09:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:26:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74834054 0.3770779 0.00750831] yaw=183.2deg [env.py: 1019] +05/12 09:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.72105187 0.34776713 0.00750831] yaw=183.9deg [env.py: 1019] +05/12 09:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.67303064 0.24374425 0.00750831] yaw=186.5deg [env.py: 1019] +05/12 09:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:26:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=300.0ms, total=300.1ms [env.py: 1075] +05/12 09:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.377, 0.008) [env.py: 1079] +05/12 09:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.2 deg [env.py: 1082] +05/12 09:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/12 09:26:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:26:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:26:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:26:30 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 09:26:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 09:26:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:26:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:26:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:26:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.881s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:26:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.510[m] 86.107[deg] [grasp_sample.py: 539] +05/12 09:26:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:26:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:26:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:26:32 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 09:26:34 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 09:26:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:26:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:26:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:26:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:26:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.83s (batch: 4.05s, save: 11.78s) [pipeline.py: 300] +05/12 09:26:41 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.84s: + episode_total: mean=144.79s, total=289.58s, count=2, min=98316.8ms, max=191260.5ms + sensor_polling: mean=454.0ms, total=205.19s, count=452, min=386.6ms, max=920.9ms + physics_step: mean=26.3ms, total=11.87s, count=452, min=19.5ms, max=43.8ms + save_trajectories: mean=11.78s, total=11.78s, count=1, min=11784.3ms, max=11784.3ms + save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4047.4ms, max=4047.4ms + task_sampling: mean=419.5ms, total=838.9ms, count=2, min=401.3ms, max=437.6ms + task_specific_sample: mean=414.9ms, total=829.7ms, count=2, min=395.9ms, max=433.8ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.3ms, max=2.3ms + mj_forward_sync: mean=563.8us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=14.8us, 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 09:26:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:26:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:26:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:26:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:26:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:26:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:26:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:26:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:26:42 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 09:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046146m [env.py: 870] +05/12 09:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:26:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:26:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.1ms, total=202.2ms [env.py: 1105] +05/12 09:26:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 285] +05/12 09:26:43 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/12 09:26:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:26:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:26:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:26:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:26:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:26:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:26:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:26:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:26:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:26:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:26:44 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 09:26:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:26:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:26:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027820m [env.py: 870] +05/12 09:26:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:26:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:26:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:26:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0455812 1.05500395 0.02782005] yaw=-149.0deg [env.py: 1019] +05/12 09:26:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:26:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95737177 0.77643147 0.02782005] yaw=-134.6deg [env.py: 1019] +05/12 09:26:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:26:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:26:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73611943 0.71244657 0.02782005] yaw=-200.8deg [env.py: 1019] +05/12 09:26:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:26:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:26:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=258.9ms, total=259.0ms [env.py: 1075] +05/12 09:26:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.046, 1.055, 0.028) [env.py: 1079] +05/12 09:26:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg [env.py: 1082] +05/12 09:26:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/12 09:26:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:26:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:26:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:26:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:26:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:26:45 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 09:26:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/12 09:26:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:26:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:26:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:26:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.971s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:26:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.462[m] 87.869[deg] [grasp_sample.py: 539] +05/12 09:26:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:26:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:26:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:26:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:26:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 09:26:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.58s (batch: 3.59s, save: 12.00s) [pipeline.py: 300] +05/12 09:26:50 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.32s: + episode_total: mean=106.01s, total=212.03s, count=2, min=5151.9ms, max=206875.0ms + sensor_polling: mean=459.0ms, total=137.71s, count=300, min=397.7ms, max=974.4ms + save_trajectories: mean=12.00s, total=12.00s, count=1, min=11996.7ms, max=11996.7ms + physics_step: mean=28.2ms, total=8.47s, count=300, min=21.5ms, max=71.6ms + save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3587.5ms, max=3587.5ms + task_sampling: mean=661.9ms, total=1.32s, count=2, min=464.4ms, max=859.5ms + task_specific_sample: mean=657.3ms, total=1.31s, count=2, min=460.5ms, max=854.1ms + scene_randomize: mean=2.6ms, total=5.2ms, count=2, min=1.4ms, max=3.8ms + mj_forward_sync: mean=541.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=21.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:26:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:26:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:26:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:26:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:26:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:26:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:26:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:26:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:26:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083989m [env.py: 870] +05/12 09:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:26:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82695648 0.25100812 0.08398894] yaw=162.6deg [env.py: 1019] +05/12 09:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91403636 1.02748633 0.08398894] yaw=-159.8deg [env.py: 1019] +05/12 09:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90882231 0.5290973 0.08398894] yaw=-181.6deg [env.py: 1019] +05/12 09:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:26:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=263.0ms, total=263.1ms [env.py: 1075] +05/12 09:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.827, 0.251, 0.084) [env.py: 1079] +05/12 09:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.6 deg [env.py: 1082] +05/12 09:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m [env.py: 1086] +05/12 09:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:26:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:26:52 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 09:26:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 09:26:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:26:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:26:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.115s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:26:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.131s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:26:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.441[m] 86.457[deg] [grasp_sample.py: 539] +05/12 09:26:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:26:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:26:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:26:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:27:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:27:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:27:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:27:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:27:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:27:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:27:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:27:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:27:41 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 09:27:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:27:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 09:27:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:27:44 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.715s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:27:44 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.105[m] 1.692[deg] [grasp_sample.py: 539] +05/12 09:27:46 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:27:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:27:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:27:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:27:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:27:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:27:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:27:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:27:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 09:27:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 09:27:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 09:27:47 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 09:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 09:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045935m [env.py: 870] +05/12 09:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 09:27:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 09:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 09:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69581523 0.12754657 0.04593541] yaw=130.2deg [env.py: 1019] +05/12 09:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.729475 0.93868182 0.04593541] yaw=-189.1deg [env.py: 1019] +05/12 09:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:27:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=342.4ms, total=342.5ms [env.py: 1075] +05/12 09:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.696, 0.128, 0.046) [env.py: 1079] +05/12 09:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 130.2 deg [env.py: 1082] +05/12 09:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m [env.py: 1086] +05/12 09:27:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:27:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:27:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:27:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:27:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 09:27:48 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 09:27:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 09:27:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:27:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:27:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 09:27:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:27:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.465s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:27:53 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.699[m] 93.447[deg] [grasp_sample.py: 539] +05/12 09:27:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:27:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:27:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:27:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:27:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] diff --git a/fridge_m_0.7_pd/chunk_010/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_010/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c4135d87c4bdff1763a50f709f2eb4b3f0d8a86c --- /dev/null +++ b/fridge_m_0.7_pd/chunk_010/trajectories_batch_1_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbc235c6866bd68f5e43cd73b239236f73c59e1d59b075472d335fb427849693 +size 470081686 diff --git a/fridge_m_0.7_pd/chunk_010/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_010/trajectories_batch_2_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..05419eb8b15560fdc7e616f28ab747e6a5687969 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_010/trajectories_batch_2_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbdb33c278e8c9d58a189a764d6cb7fcad3d93ba123e4aa642f59b070dba8bb6 +size 640701833 diff --git a/fridge_m_0.7_pd/chunk_010/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_010/trajectories_batch_3_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ea81b5e478479df837b0729a9c724b8a1662ad7c --- /dev/null +++ b/fridge_m_0.7_pd/chunk_010/trajectories_batch_3_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:829aff50d2581e170a21c0cbc17a74172ad6b5d3ab6a2031c8ebe070723ca16f +size 710066198 diff --git a/fridge_m_0.7_pd/chunk_010/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_010/trajectories_batch_4_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e7fe733c9f9b4bafcefdc3a964cf426735a18d4a --- /dev/null +++ b/fridge_m_0.7_pd/chunk_010/trajectories_batch_4_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27722ad0e9e3ea22999ffb47a71785a69ecb3a25f262f9bbfbbfb5deade009b6 +size 466745264