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sha256:6ea5c321eada4990f399c6a801b9f0f6f37e83ba74b0497d61f846d7f344f11c +size 124716 diff --git a/fridge_m_0.7_pd/chunk_017/episode_00000014_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_017/episode_00000014_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2e5f1d62fbbb5a14ef70e0132b01c8917aba584f --- /dev/null +++ b/fridge_m_0.7_pd/chunk_017/episode_00000014_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45d53d8cb683b76f30db1fbdc31c93467472eda010d02a2b3a070562238de345 +size 374834 diff --git a/fridge_m_0.7_pd/chunk_017/running_log.log b/fridge_m_0.7_pd/chunk_017/running_log.log index e253d2f1c1a3a48089ca4f73119606e5ce2fcefa..33288e21cb1460c5df9b80a3066e0b1ce7e944a9 100644 --- a/fridge_m_0.7_pd/chunk_017/running_log.log +++ b/fridge_m_0.7_pd/chunk_017/running_log.log @@ -5880,3 +5880,584 @@ 05/12 16:11:29 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] 05/12 16:11:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] 05/12 16:11:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:11:39 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 16:11:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 16:11:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:11:44 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 16:11:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 16:11:44 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:11:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:11:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 16:11:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.05s (batch: 4.22s, save: 10.83s) [pipeline.py: 300] +05/12 16:11:45 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.48s: + episode_total: mean=182.30s, total=182.30s, count=1, min=182297.8ms, max=182297.8ms + sensor_polling: mean=410.6ms, total=123.19s, count=300, min=367.6ms, max=798.9ms + save_trajectories: mean=10.83s, total=10.83s, count=1, min=10834.7ms, max=10834.7ms + physics_step: mean=25.3ms, total=7.58s, count=300, min=18.9ms, max=35.2ms + save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4217.8ms, max=4217.8ms + task_sampling: mean=480.7ms, total=480.7ms, count=1, min=480.7ms, max=480.7ms + task_specific_sample: mean=476.5ms, total=476.5ms, count=1, min=476.5ms, max=476.5ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=490.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.4us, 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 16:11:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:11:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:11:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:11:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:11:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:11:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:11:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:11:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:11:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038936m [env.py: 870] +05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:11:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93951011 0.95759864 0.03893559] yaw=-161.3deg [env.py: 1019] +05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82717569 1.14319117 0.03893559] yaw=-125.6deg [env.py: 1019] +05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:11:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.0ms, total=219.0ms [env.py: 1075] +05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.958, 0.039) [env.py: 1079] +05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.3 deg [env.py: 1082] +05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m [env.py: 1086] +05/12 16:11:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:11:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:11:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:11:47 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 16:11:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 16:11:47 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 16:11:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:11:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:11:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.923s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:11:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.447[m] 76.216[deg] [grasp_sample.py: 539] +05/12 16:11:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:11:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:11:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:11:52 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:11:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:11:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 16:11:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 16.37s (batch: 4.94s, save: 11.43s) [pipeline.py: 300] +05/12 16:11:56 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.28s: + episode_total: mean=162.98s, total=325.97s, count=2, min=140700.4ms, max=185269.3ms + sensor_polling: mean=425.6ms, total=238.77s, count=561, min=369.1ms, max=846.9ms + physics_step: mean=25.9ms, total=14.54s, count=561, min=16.9ms, max=34.8ms + save_trajectories: mean=11.43s, total=11.43s, count=1, min=11433.4ms, max=11433.4ms + save_batch_prep: mean=4.94s, total=4.94s, count=1, min=4935.5ms, max=4935.5ms + task_sampling: mean=638.3ms, total=1.28s, count=2, min=556.3ms, max=720.4ms + task_specific_sample: mean=634.5ms, total=1.27s, count=2, min=552.2ms, max=716.8ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.8ms, max=2.6ms + mj_forward_sync: mean=452.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=21.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:11:58 WARNING: [Worker 0] No trajectory data to save for chunk_017 [pipeline.py: 234] +05/12 16:11:58 WARNING: [Worker 0] No trajectory data to save for chunk_017 [pipeline.py: 234] +05/12 16:11:58 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes [pipeline.py: 1323] +05/12 16:11:58 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5164.59s + House averages: + episode_total: mean=158.97s, total=2861.44s, count=18, min=3266.3ms, max=237066.8ms + sensor_polling: mean=430.9ms, total=1951.17s, count=4528, min=363.4ms, max=846.9ms + save_trajectories: mean=11.92s, total=142.99s, count=12, min=11082.7ms, max=12918.9ms + physics_step: mean=27.0ms, total=122.18s, count=4528, min=15.6ms, max=152.0ms + save_batch_prep: mean=4.48s, total=53.82s, count=12, min=3776.2ms, max=5072.3ms + task_sampling: mean=756.3ms, total=13.61s, count=18, min=406.8ms, max=4818.5ms + task_specific_sample: mean=521.4ms, total=9.39s, count=18, min=401.7ms, max=716.8ms + scene_load: mean=4.15s, total=4.15s, count=1, min=4147.1ms, max=4147.1ms + scene_env_create: mean=2.41s, total=2.41s, count=1, min=2413.5ms, max=2413.5ms + scene_compile: mean=1.48s, total=1.48s, count=1, min=1483.7ms, max=1483.7ms + compile_mujoco: mean=930.3ms, total=930.3ms, count=1, min=930.3ms, max=930.3ms + compile_xml_load: mean=427.3ms, total=427.3ms, count=1, min=427.3ms, max=427.3ms + scene_init: mean=162.3ms, total=162.3ms, count=1, min=162.3ms, max=162.3ms + scene_asset_install: mean=87.1ms, total=87.1ms, count=1, min=87.1ms, max=87.1ms + compile_aux_objects: mean=71.7ms, total=71.7ms, count=1, min=71.7ms, max=71.7ms + compile_aux_policy_objects: mean=71.7ms, total=71.7ms, count=1, min=71.7ms, max=71.7ms + asset_install_grasps: mean=60.7ms, total=60.7ms, count=1, min=60.7ms, max=60.7ms + scene_randomize: mean=2.6ms, total=46.0ms, count=18, min=1.4ms, max=3.7ms + compile_robot_add: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms + asset_install_objects: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms + mj_forward_sync: mean=740.2us, total=13.3ms, count=18, min=0.4ms, max=3.9ms + asset_install_scene: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms + policy_setup: mean=28.1us, total=0.5ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 16:11:58 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 16:11:58 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5164.59s + Worker averages: + episode_total: mean=158.97s, total=2861.44s, count=18, min=3266.3ms, max=237066.8ms + sensor_polling: mean=430.9ms, total=1951.17s, count=4528, min=363.4ms, max=846.9ms + save_trajectories: mean=11.92s, total=142.99s, count=12, min=11082.7ms, max=12918.9ms + physics_step: mean=27.0ms, total=122.18s, count=4528, min=15.6ms, max=152.0ms + save_batch_prep: mean=4.48s, total=53.82s, count=12, min=3776.2ms, max=5072.3ms + task_sampling: mean=756.3ms, total=13.61s, count=18, min=406.8ms, max=4818.5ms + task_specific_sample: mean=521.4ms, total=9.39s, count=18, min=401.7ms, max=716.8ms + scene_load: mean=4.15s, total=4.15s, count=1, min=4147.1ms, max=4147.1ms + scene_env_create: mean=2.41s, total=2.41s, count=1, min=2413.5ms, max=2413.5ms + scene_compile: mean=1.48s, total=1.48s, count=1, min=1483.7ms, max=1483.7ms + compile_mujoco: mean=930.3ms, total=930.3ms, count=1, min=930.3ms, max=930.3ms + compile_xml_load: mean=427.3ms, total=427.3ms, count=1, min=427.3ms, max=427.3ms + scene_init: mean=162.3ms, total=162.3ms, count=1, min=162.3ms, max=162.3ms + scene_asset_install: mean=87.1ms, total=87.1ms, count=1, min=87.1ms, max=87.1ms + compile_aux_objects: mean=71.7ms, total=71.7ms, count=1, min=71.7ms, max=71.7ms + compile_aux_policy_objects: mean=71.7ms, total=71.7ms, count=1, min=71.7ms, max=71.7ms + asset_install_grasps: mean=60.7ms, total=60.7ms, count=1, min=60.7ms, max=60.7ms + scene_randomize: mean=2.6ms, total=46.0ms, count=18, min=1.4ms, max=3.7ms + compile_robot_add: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms + asset_install_objects: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms + mj_forward_sync: mean=740.2us, total=13.3ms, count=18, min=0.4ms, max=3.9ms + asset_install_scene: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms + policy_setup: mean=28.1us, total=0.5ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 16:11:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:11:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 16:11:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.25s (batch: 4.66s, save: 10.59s) [pipeline.py: 300] +05/12 16:12:00 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.46s: + episode_total: mean=202.00s, total=202.00s, count=1, min=202000.8ms, max=202000.8ms + sensor_polling: mean=434.5ms, total=130.36s, count=300, min=379.6ms, max=817.2ms + save_trajectories: mean=10.59s, total=10.59s, count=1, min=10587.5ms, max=10587.5ms + physics_step: mean=26.2ms, total=7.86s, count=300, min=17.6ms, max=34.9ms + save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4664.0ms, max=4664.0ms + task_sampling: mean=459.6ms, total=459.6ms, count=1, min=459.6ms, max=459.6ms + task_specific_sample: mean=455.2ms, total=455.2ms, count=1, min=455.2ms, max=455.2ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=463.0us, 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 16:12:01 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 16:12:01 INFO: Success count: 12, Total count: 12 [pipeline.py: 1491] +05/12 16:12:01 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/12 16:12:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:12:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:12:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:12:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:12:01 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 16:12:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:12:01 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 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067487m [env.py: 870] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:12:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79407274 0.17731108 0.06748737] yaw=153.4deg [env.py: 1019] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81160803 0.93139502 0.06748737] yaw=-186.1deg [env.py: 1019] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82668691 0.42212293 0.06748737] yaw=169.6deg [env.py: 1019] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:12:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.9ms, total=150.9ms [env.py: 1075] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.794, 0.177, 0.067) [env.py: 1079] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.4 deg [env.py: 1082] +05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086] +05/12 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:12:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:12:02 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 16:12:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 16:12:02 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 16:12:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:12:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:12:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.204s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:12:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.532[m] 99.164[deg] [grasp_sample.py: 539] +05/12 16:12:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:12:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:12:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:12:04 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 16:12:23 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 16:12:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 16:12:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:12:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:12:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:12:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:12:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:12:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 16:12:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 17.86s (batch: 6.34s, save: 11.52s) [pipeline.py: 300] +05/12 16:12:42 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.49s: + episode_total: mean=200.77s, total=200.77s, count=1, min=200771.3ms, max=200771.3ms + sensor_polling: mean=452.7ms, total=135.80s, count=300, min=397.9ms, max=1020.3ms + save_trajectories: mean=11.52s, total=11.52s, count=1, min=11519.6ms, max=11519.6ms + physics_step: mean=24.0ms, total=7.19s, count=300, min=17.2ms, max=38.3ms + save_batch_prep: mean=6.34s, total=6.34s, count=1, min=6342.0ms, max=6342.0ms + task_sampling: mean=492.4ms, total=492.4ms, count=1, min=492.4ms, max=492.4ms + task_specific_sample: mean=488.3ms, total=488.3ms, count=1, min=488.3ms, max=488.3ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=453.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=41.2us, 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 16:12:43 WARNING: [Worker 0] No trajectory data to save for chunk_017 [pipeline.py: 234] +05/12 16:12:43 WARNING: [Worker 0] No trajectory data to save for chunk_017 [pipeline.py: 234] +05/12 16:12:43 INFO: [Worker 0] Worker 0 completed house 1: 10/13 successful episodes [pipeline.py: 1323] +05/12 16:12:43 INFO: [Worker 0] [PROFILE] House 1 complete: 10/13 successful, 13 episodes, total_time=5245.04s + House averages: + episode_total: mean=161.44s, total=2905.83s, count=18, min=11523.7ms, max=216126.5ms + sensor_polling: mean=446.2ms, total=2024.04s, count=4536, min=381.3ms, max=1020.3ms + physics_step: mean=26.7ms, total=121.01s, count=4536, min=14.6ms, max=75.2ms + save_trajectories: mean=11.52s, total=115.17s, count=10, min=11006.2ms, max=12144.6ms + save_batch_prep: mean=4.67s, total=46.66s, count=10, min=3595.9ms, max=6819.0ms + task_sampling: mean=742.2ms, total=13.36s, count=18, min=353.9ms, max=4715.7ms + task_specific_sample: mean=516.9ms, total=9.30s, count=18, min=349.0ms, max=729.4ms + scene_load: mean=3.98s, total=3.98s, count=1, min=3982.4ms, max=3982.4ms + scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.6ms, max=2255.6ms + scene_compile: mean=1.54s, total=1.54s, count=1, min=1543.1ms, max=1543.1ms + compile_mujoco: mean=838.5ms, total=838.5ms, count=1, min=838.5ms, max=838.5ms + compile_xml_load: mean=598.0ms, total=598.0ms, count=1, min=598.0ms, max=598.0ms + scene_init: mean=117.5ms, total=117.5ms, count=1, min=117.5ms, max=117.5ms + scene_asset_install: mean=65.8ms, total=65.8ms, count=1, min=65.8ms, max=65.8ms + compile_aux_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms + compile_aux_policy_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms + asset_install_grasps: mean=45.2ms, total=45.2ms, count=1, min=45.2ms, max=45.2ms + compile_robot_add: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms + scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.2ms, max=4.2ms + asset_install_objects: mean=16.1ms, total=16.1ms, count=1, min=16.1ms, max=16.1ms + mj_forward_sync: mean=500.2us, total=9.0ms, count=18, min=0.4ms, max=0.8ms + asset_install_scene: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms + policy_setup: mean=23.8us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 16:12:43 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 16:12:43 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5245.04s + Worker averages: + episode_total: mean=161.44s, total=2905.83s, count=18, min=11523.7ms, max=216126.5ms + sensor_polling: mean=446.2ms, total=2024.04s, count=4536, min=381.3ms, max=1020.3ms + physics_step: mean=26.7ms, total=121.01s, count=4536, min=14.6ms, max=75.2ms + save_trajectories: mean=11.52s, total=115.17s, count=10, min=11006.2ms, max=12144.6ms + save_batch_prep: mean=4.67s, total=46.66s, count=10, min=3595.9ms, max=6819.0ms + task_sampling: mean=742.2ms, total=13.36s, count=18, min=353.9ms, max=4715.7ms + task_specific_sample: mean=516.9ms, total=9.30s, count=18, min=349.0ms, max=729.4ms + scene_load: mean=3.98s, total=3.98s, count=1, min=3982.4ms, max=3982.4ms + scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.6ms, max=2255.6ms + scene_compile: mean=1.54s, total=1.54s, count=1, min=1543.1ms, max=1543.1ms + compile_mujoco: mean=838.5ms, total=838.5ms, count=1, min=838.5ms, max=838.5ms + compile_xml_load: mean=598.0ms, total=598.0ms, count=1, min=598.0ms, max=598.0ms + scene_init: mean=117.5ms, total=117.5ms, count=1, min=117.5ms, max=117.5ms + scene_asset_install: mean=65.8ms, total=65.8ms, count=1, min=65.8ms, max=65.8ms + compile_aux_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms + compile_aux_policy_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms + asset_install_grasps: mean=45.2ms, total=45.2ms, count=1, min=45.2ms, max=45.2ms + compile_robot_add: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms + scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.2ms, max=4.2ms + asset_install_objects: mean=16.1ms, total=16.1ms, count=1, min=16.1ms, max=16.1ms + mj_forward_sync: mean=500.2us, total=9.0ms, count=18, min=0.4ms, max=0.8ms + asset_install_scene: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms + policy_setup: mean=23.8us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 16:12:46 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 16:12:46 INFO: Success count: 10, Total count: 13 [pipeline.py: 1491] +05/12 16:12:46 INFO: Success rate: 76.92% [pipeline.py: 1492] +05/12 16:12:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:13:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:13:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:13:56 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:14:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:14:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:14:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:14:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:14:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:14:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:14:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:14:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:14:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:14:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:14:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:14:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 16:14:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.853s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:14:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.396[deg] [grasp_sample.py: 539] +05/12 16:14:14 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:14:16 WARNING: [Worker 0] No trajectory data to save for chunk_017 [pipeline.py: 234] +05/12 16:14:16 WARNING: [Worker 0] No trajectory data to save for chunk_017 [pipeline.py: 234] +05/12 16:14:16 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes [pipeline.py: 1323] +05/12 16:14:16 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5440.72s + House averages: + episode_total: mean=166.55s, total=2997.91s, count=18, min=216.4ms, max=202000.8ms + sensor_polling: mean=428.7ms, total=2100.94s, count=4901, min=365.9ms, max=927.5ms + physics_step: mean=26.7ms, total=130.75s, count=4901, min=16.8ms, max=81.8ms + save_trajectories: mean=10.88s, total=130.53s, count=12, min=10086.1ms, max=12272.8ms + save_batch_prep: mean=4.10s, total=49.22s, count=12, min=3478.2ms, max=4664.0ms + task_sampling: mean=746.8ms, total=12.70s, count=17, min=362.6ms, max=4826.8ms + task_specific_sample: mean=475.9ms, total=8.57s, count=18, min=210.6ms, max=665.8ms + scene_load: mean=4.27s, total=4.27s, count=1, min=4273.4ms, max=4273.4ms + scene_env_create: mean=2.85s, total=2.85s, count=1, min=2852.9ms, max=2852.9ms + scene_compile: mean=1.20s, total=1.20s, count=1, min=1196.9ms, max=1196.9ms + compile_mujoco: mean=860.6ms, total=860.6ms, count=1, min=860.6ms, max=860.6ms + compile_xml_load: mean=222.6ms, total=222.6ms, count=1, min=222.6ms, max=222.6ms + task_sampling_failed: mean=216.3ms, total=216.3ms, count=1, min=216.3ms, max=216.3ms + scene_init: mean=166.6ms, total=166.6ms, count=1, min=166.6ms, max=166.6ms + scene_asset_install: mean=56.4ms, total=56.4ms, count=1, min=56.4ms, max=56.4ms + 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 + compile_robot_add: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms + scene_randomize: mean=2.3ms, total=40.9ms, count=18, min=1.1ms, max=3.3ms + asset_install_grasps: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms + asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms + mj_forward_sync: mean=518.3us, total=9.3ms, count=18, min=0.5ms, max=0.8ms + asset_install_scene: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms + policy_setup: mean=29.0us, total=0.5ms, count=17, 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 16:14:16 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 16:14:16 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5440.72s + Worker averages: + episode_total: mean=166.55s, total=2997.91s, count=18, min=216.4ms, max=202000.8ms + sensor_polling: mean=428.7ms, total=2100.94s, count=4901, min=365.9ms, max=927.5ms + physics_step: mean=26.7ms, total=130.75s, count=4901, min=16.8ms, max=81.8ms + save_trajectories: mean=10.88s, total=130.53s, count=12, min=10086.1ms, max=12272.8ms + save_batch_prep: mean=4.10s, total=49.22s, count=12, min=3478.2ms, max=4664.0ms + task_sampling: mean=746.8ms, total=12.70s, count=17, min=362.6ms, max=4826.8ms + task_specific_sample: mean=475.9ms, total=8.57s, count=18, min=210.6ms, max=665.8ms + scene_load: mean=4.27s, total=4.27s, count=1, min=4273.4ms, max=4273.4ms + scene_env_create: mean=2.85s, total=2.85s, count=1, min=2852.9ms, max=2852.9ms + scene_compile: mean=1.20s, total=1.20s, count=1, min=1196.9ms, max=1196.9ms + compile_mujoco: mean=860.6ms, total=860.6ms, count=1, min=860.6ms, max=860.6ms + compile_xml_load: mean=222.6ms, total=222.6ms, count=1, min=222.6ms, max=222.6ms + task_sampling_failed: mean=216.3ms, total=216.3ms, count=1, min=216.3ms, max=216.3ms + scene_init: mean=166.6ms, total=166.6ms, count=1, min=166.6ms, max=166.6ms + scene_asset_install: mean=56.4ms, total=56.4ms, count=1, min=56.4ms, max=56.4ms + 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 + compile_robot_add: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms + scene_randomize: mean=2.3ms, total=40.9ms, count=18, min=1.1ms, max=3.3ms + asset_install_grasps: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms + asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms + mj_forward_sync: mean=518.3us, total=9.3ms, count=18, min=0.5ms, max=0.8ms + asset_install_scene: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms + policy_setup: mean=29.0us, total=0.5ms, count=17, 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 16:14:19 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 16:14:19 INFO: Success count: 12, Total count: 12 [pipeline.py: 1491] +05/12 16:14:19 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/12 16:14:27 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 16:14:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 16:14:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:14:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:14:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 16:14:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.76s (batch: 4.33s, save: 10.42s) [pipeline.py: 300] +05/12 16:14:43 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.52s: + episode_total: mean=176.33s, total=176.33s, count=1, min=176331.1ms, max=176331.1ms + sensor_polling: mean=395.2ms, total=118.57s, count=300, min=366.8ms, max=879.9ms + save_trajectories: mean=10.42s, total=10.42s, count=1, min=10423.4ms, max=10423.4ms + physics_step: mean=23.2ms, total=6.97s, count=300, min=16.6ms, max=30.6ms + save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4332.5ms, max=4332.5ms + task_sampling: mean=521.0ms, total=521.0ms, count=1, min=521.0ms, max=521.0ms + task_specific_sample: mean=517.2ms, total=517.2ms, count=1, min=517.2ms, max=517.2ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=448.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.7us, 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 16:14:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:14:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:14:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:14:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:14:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:14:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:14:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:14:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:14:44 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 16:14:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:14:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048010m [env.py: 870] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:14:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89071562 0.80202368 0.04800969] yaw=-125.5deg [env.py: 1019] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74606027 0.06002814 0.04800969] yaw=152.6deg [env.py: 1019] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84086719 0.45077862 0.04800969] yaw=184.4deg [env.py: 1019] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:14:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.9ms, total=189.0ms [env.py: 1075] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.802, 0.048) [env.py: 1079] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.5 deg [env.py: 1082] +05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/12 16:14:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:14:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:14:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:14:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:14:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:14:44 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 16:14:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 16:14:45 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 16:14:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:14:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:14:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.041s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:14:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.529[m] 85.360[deg] [grasp_sample.py: 539] +05/12 16:14:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:14:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:14:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:15:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:15:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:15:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:16:50 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:17:20 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 16:17:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 16:17:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:17:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:17:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 16:17:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.36s (batch: 4.40s, save: 9.96s) [pipeline.py: 300] +05/12 16:17:35 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.49s: + episode_total: mean=170.86s, total=170.86s, count=1, min=170863.2ms, max=170863.2ms + sensor_polling: mean=384.4ms, total=115.31s, count=300, min=362.7ms, max=778.8ms + save_trajectories: mean=9.96s, total=9.96s, count=1, min=9959.4ms, max=9959.4ms + physics_step: mean=22.7ms, total=6.80s, count=300, min=18.1ms, max=25.2ms + save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4402.7ms, max=4402.7ms + task_sampling: mean=489.6ms, total=489.6ms, count=1, min=489.6ms, max=489.6ms + task_specific_sample: mean=485.6ms, total=485.6ms, count=1, min=485.6ms, max=485.6ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=456.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.9us, 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 16:17:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:17:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:17:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:17:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:17:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:17:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:17:36 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 16:17:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:17:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097523m [env.py: 870] +05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:17:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.13901985 1.13237016 0.09752292] yaw=-134.5deg [env.py: 1019] +05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86063949 0.82452573 0.09752292] yaw=-164.4deg [env.py: 1019] +05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:17:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=217.2ms, total=217.3ms [env.py: 1075] +05/12 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.139, 1.132, 0.098) [env.py: 1079] +05/12 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg [env.py: 1082] +05/12 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/12 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:17:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:17:37 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 16:17:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 16:17:37 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 16:17:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:17:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:17:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.754s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:17:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.465[m] 91.794[deg] [grasp_sample.py: 539] +05/12 16:17:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:17:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:17:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:18:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:18:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:18:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:19:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:19:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:19:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:19:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:19:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:19:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:19:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:19:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:19:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:19:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:19:33 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 16:19:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:19:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 16:19:36 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.813s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:19:36 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.078[deg] [grasp_sample.py: 539] +05/12 16:19:37 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:19:39 WARNING: [Worker 0] No trajectory data to save for chunk_017 [pipeline.py: 234] +05/12 16:19:39 WARNING: [Worker 0] No trajectory data to save for chunk_017 [pipeline.py: 234] +05/12 16:19:39 INFO: [Worker 0] Worker 0 completed house 1: 15/16 successful episodes [pipeline.py: 1323] +05/12 16:19:39 INFO: [Worker 0] [PROFILE] House 1 complete: 15/16 successful, 16 episodes, total_time=5961.90s + House averages: + episode_total: mean=184.59s, total=3322.70s, count=18, min=121150.2ms, max=206062.4ms + sensor_polling: mean=423.6ms, total=2242.76s, count=5294, min=362.7ms, max=882.5ms + save_trajectories: mean=10.99s, total=164.86s, count=15, min=9959.4ms, max=12439.2ms + physics_step: mean=26.1ms, total=138.34s, count=5294, min=14.7ms, max=90.0ms + save_batch_prep: mean=4.01s, total=60.08s, count=15, min=3569.0ms, max=4405.5ms + task_sampling: mean=752.8ms, total=13.55s, count=18, min=387.7ms, max=5032.7ms + task_specific_sample: mean=497.9ms, total=8.96s, count=18, min=384.0ms, max=606.9ms + scene_load: mean=4.51s, total=4.51s, count=1, min=4513.4ms, max=4513.4ms + scene_env_create: mean=2.62s, total=2.62s, count=1, min=2621.6ms, max=2621.6ms + scene_compile: mean=1.45s, total=1.45s, count=1, min=1451.7ms, max=1451.7ms + compile_mujoco: mean=966.8ms, total=966.8ms, count=1, min=966.8ms, max=966.8ms + scene_init: mean=380.6ms, total=380.6ms, count=1, min=380.6ms, max=380.6ms + compile_xml_load: mean=360.9ms, total=360.9ms, count=1, min=360.9ms, max=360.9ms + compile_aux_objects: mean=71.8ms, total=71.8ms, count=1, min=71.8ms, max=71.8ms + compile_aux_policy_objects: mean=71.8ms, total=71.8ms, count=1, min=71.8ms, max=71.8ms + scene_asset_install: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms + scene_randomize: mean=2.6ms, total=47.3ms, count=18, min=1.4ms, max=3.6ms + asset_install_grasps: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms + compile_robot_add: mean=40.8ms, total=40.8ms, count=1, min=40.8ms, max=40.8ms + asset_install_objects: mean=13.3ms, total=13.3ms, count=1, min=13.3ms, max=13.3ms + mj_forward_sync: mean=515.0us, total=9.3ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + policy_setup: mean=25.9us, total=0.5ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 16:19:39 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 16:19:39 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=5961.90s + Worker averages: + episode_total: mean=184.59s, total=3322.70s, count=18, min=121150.2ms, max=206062.4ms + sensor_polling: mean=423.6ms, total=2242.76s, count=5294, min=362.7ms, max=882.5ms + save_trajectories: mean=10.99s, total=164.86s, count=15, min=9959.4ms, max=12439.2ms + physics_step: mean=26.1ms, total=138.34s, count=5294, min=14.7ms, max=90.0ms + save_batch_prep: mean=4.01s, total=60.08s, count=15, min=3569.0ms, max=4405.5ms + task_sampling: mean=752.8ms, total=13.55s, count=18, min=387.7ms, max=5032.7ms + task_specific_sample: mean=497.9ms, total=8.96s, count=18, min=384.0ms, max=606.9ms + scene_load: mean=4.51s, total=4.51s, count=1, min=4513.4ms, max=4513.4ms + scene_env_create: mean=2.62s, total=2.62s, count=1, min=2621.6ms, max=2621.6ms + scene_compile: mean=1.45s, total=1.45s, count=1, min=1451.7ms, max=1451.7ms + compile_mujoco: mean=966.8ms, total=966.8ms, count=1, min=966.8ms, max=966.8ms + scene_init: mean=380.6ms, total=380.6ms, count=1, min=380.6ms, max=380.6ms + compile_xml_load: mean=360.9ms, total=360.9ms, count=1, min=360.9ms, max=360.9ms + compile_aux_objects: mean=71.8ms, total=71.8ms, count=1, min=71.8ms, max=71.8ms + compile_aux_policy_objects: mean=71.8ms, total=71.8ms, count=1, min=71.8ms, max=71.8ms + scene_asset_install: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms + scene_randomize: mean=2.6ms, total=47.3ms, count=18, min=1.4ms, max=3.6ms + asset_install_grasps: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms + compile_robot_add: mean=40.8ms, total=40.8ms, count=1, min=40.8ms, max=40.8ms + asset_install_objects: mean=13.3ms, total=13.3ms, count=1, min=13.3ms, max=13.3ms + mj_forward_sync: mean=515.0us, total=9.3ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + policy_setup: mean=25.9us, total=0.5ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 16:19:42 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 16:19:42 INFO: Success count: 15, Total count: 16 [pipeline.py: 1491] +05/12 16:19:42 INFO: Success rate: 93.75% [pipeline.py: 1492] diff --git a/fridge_m_0.7_pd/chunk_017/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_017/trajectories_batch_1_of_4_cam_rand.h5 index 0e78b99007dd441f1cda91bdbb9a487e266948f0..419c79c2ec5a4540020d50a848e61ba5764914a7 100644 --- a/fridge_m_0.7_pd/chunk_017/trajectories_batch_1_of_4_cam_rand.h5 +++ 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16:20:58 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 16:20:58 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 16:20:58 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_018'), + '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': 51803, + '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 16:20:58 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 16:20:58 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 16:20:58 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 16:20:58 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 16:20:58 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 16:20:58 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 16:20:58 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_018'), + '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': 51802, + '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 16:20:58 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 16:20:58 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 16:20:58 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 16:20:59 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 16:20:59 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 16:21:01 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 16:21:01 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 16:21:01 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 16:21:01 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_018'), + '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': 51801, + '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 16:21:01 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 16:21:01 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 16:21:01 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 16:21:01 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 16:21:02 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 16:21:02 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 16:21:02 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 16:21:02 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 16:21:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 16:21:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 16:21:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:21:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:21:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:21:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:21:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:21:02 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 16:21:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:21:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002706m [env.py: 870] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:21:02 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 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85543731 0.61432144 0.00270562] yaw=-178.3deg [env.py: 1019] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80216321 0.77627 0.00270562] yaw=-125.5deg [env.py: 1019] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:21:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 16:21:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:21:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:21:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:21:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:21:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:21:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:21:02 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 16:21:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:21:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087130m [env.py: 870] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:21:02 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 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88399835 0.46988461 0.00270562] yaw=170.7deg [env.py: 1019] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:21:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=21.3ms, retries=111.2ms, total=132.5ms [env.py: 1075] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.614, 0.003) [env.py: 1079] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.3 deg [env.py: 1082] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/12 16:21:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:21:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65466107 0.2337792 0.08712967] yaw=164.9deg [env.py: 1019] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68484394 0.89366771 0.08712967] yaw=-131.0deg [env.py: 1019] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8459116 0.45337037 0.08712967] yaw=163.9deg [env.py: 1019] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:21:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=38.8ms, retries=118.6ms, total=157.4ms [env.py: 1075] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.655, 0.234, 0.087) [env.py: 1079] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.9 deg [env.py: 1082] +05/12 16:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/12 16:21:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:21:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:21:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:21:02 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 16:21:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:21:02 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 16:21:03 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 16:21:03 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 16:21:03 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 16:21:03 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 16:21:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:21:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:21:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:21:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:21:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:21:03 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 16:21:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:21:03 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 16:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056751m [env.py: 870] +05/12 16:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:21:03 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 16:21:03 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 16:21:03 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 16:21:03 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 16:21:03 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018'), + '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': 51804, + '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 16:21:03 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 16:21:03 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 16:21:03 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 16:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.62594978 0.26238831 0.05675146] yaw=161.5deg [env.py: 1019] +05/12 16:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05126481 1.26880233 0.05675146] yaw=-158.2deg [env.py: 1019] +05/12 16:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74802363 0.72267075 0.05675146] yaw=-160.4deg [env.py: 1019] +05/12 16:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:21:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=21.6ms, retries=165.4ms, total=187.0ms [env.py: 1075] +05/12 16:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.626, 0.262, 0.057) [env.py: 1079] +05/12 16:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.5 deg [env.py: 1082] +05/12 16:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/12 16:21:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:21:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:21:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:21:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:21:04 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 16:21:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:21:04 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 16:21:06 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 16:21:06 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 16:21:06 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 16:21:06 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 16:21:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:21:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:21:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:21:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:21:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:21:06 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 16:21:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:21:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090938m [env.py: 870] +05/12 16:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:21:06 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 16:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01669693 0.90161583 0.09093796] yaw=-149.8deg [env.py: 1019] +05/12 16:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9685986 0.14190185 0.09093796] yaw=171.9deg [env.py: 1019] +05/12 16:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11692666 1.01799577 0.09093796] yaw=-103.6deg [env.py: 1019] +05/12 16:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:21:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=21.0ms, retries=114.3ms, total=135.3ms [env.py: 1075] +05/12 16:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.017, 0.902, 0.091) [env.py: 1079] +05/12 16:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.8 deg [env.py: 1082] +05/12 16:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/12 16:21:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:21:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:21:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:21:07 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 16:21:38 INFO: [Worker 0] Warmed up parallel IK solver in 35.183s [base_object_manipulation_planner_policy.py: 377] +05/12 16:21:38 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 16:21:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:21:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:21:38 INFO: [Worker 0] Warmed up parallel IK solver in 36.131s [base_object_manipulation_planner_policy.py: 377] +05/12 16:21:38 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 16:21:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:21:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:21:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.290s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:21:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.593[m] 83.578[deg] [grasp_sample.py: 539] +05/12 16:21:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:21:39 INFO: [Worker 0] Warmed up parallel IK solver in 35.170s [base_object_manipulation_planner_policy.py: 377] +05/12 16:21:39 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 16:21:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:21:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:21:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.750s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:21:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.392[m] 87.036[deg] [grasp_sample.py: 539] +05/12 16:21:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:21:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:21:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:21:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:21:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:21:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:21:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:21:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.313s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:21:40 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.675[m] 97.519[deg] [grasp_sample.py: 539] +05/12 16:21:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:21:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:21:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:21:41 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 16:21:42 INFO: [Worker 0] Warmed up parallel IK solver in 35.133s [base_object_manipulation_planner_policy.py: 377] +05/12 16:21:42 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 16:21:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:21:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:21:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.029s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:21:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.368[m] 92.794[deg] [grasp_sample.py: 539] +05/12 16:21:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:21:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:21:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:21:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:22:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:22:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:22:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:22:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:22:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:22:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:22:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:22:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:22:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:22:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:22:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:22:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:23:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:23:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:23:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:23:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:23:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:23:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:23:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:23:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:23:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:23:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:23:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 82 non-colliding grasps [grasp_sample.py: 465] +05/12 16:23:17 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.691s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:23:17 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.029[m] 0.316[deg] [grasp_sample.py: 539] +05/12 16:23:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:23:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:23:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:23:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:23:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:23:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:23:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:23:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:23:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:23:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:23:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:23:47 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:23:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:23:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:23:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:23:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:23:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:23:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:23:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:23:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 16:23:52 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:23:53 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.009s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:23:53 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.744[deg] [grasp_sample.py: 539] +05/12 16:23:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:23:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:23:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:23:54 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:23:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:24:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:24:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:24:10 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 16:24:10 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=3.30s: + episode_total: mean=189.66s, total=189.66s, count=1, min=189662.8ms, max=189662.8ms + sensor_polling: mean=392.2ms, total=117.67s, count=300, min=372.2ms, max=649.4ms + physics_step: mean=23.1ms, total=6.94s, count=300, min=15.3ms, max=29.5ms + task_sampling: mean=3.30s, total=3.30s, count=1, min=3296.5ms, max=3296.5ms + scene_load: mean=2.76s, total=2.76s, count=1, min=2761.8ms, max=2761.8ms + scene_env_create: mean=1.72s, total=1.72s, count=1, min=1718.6ms, max=1718.6ms + scene_compile: mean=874.6ms, total=874.6ms, count=1, min=874.6ms, max=874.6ms + compile_mujoco: mean=616.3ms, total=616.3ms, count=1, min=616.3ms, max=616.3ms + task_specific_sample: mean=531.9ms, total=531.9ms, count=1, min=531.9ms, max=531.9ms + compile_xml_load: mean=185.6ms, total=185.6ms, count=1, min=185.6ms, max=185.6ms + scene_init: mean=117.3ms, total=117.3ms, count=1, min=117.3ms, max=117.3ms + compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + scene_asset_install: mean=51.1ms, total=51.1ms, count=1, min=51.1ms, max=51.1ms + asset_install_grasps: mean=37.0ms, total=37.0ms, count=1, min=37.0ms, max=37.0ms + asset_install_objects: mean=10.7ms, total=10.7ms, count=1, min=10.7ms, max=10.7ms + compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=436.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=85.5us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 16:24:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:24:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:24:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:24:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:24:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:24:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:24:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:24:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:24:12 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 16:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057065m [env.py: 870] +05/12 16:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:24:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67090082 0.44270389 0.05706454] yaw=194.2deg [env.py: 1019] +05/12 16:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92070938 0.30163145 0.05706454] yaw=180.6deg [env.py: 1019] +05/12 16:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:24:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.4ms, total=213.5ms [env.py: 1075] +05/12 16:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.671, 0.443, 0.057) [env.py: 1079] +05/12 16:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 194.2 deg [env.py: 1082] +05/12 16:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [env.py: 1086] +05/12 16:24:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:24:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:24:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:24:12 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 16:24:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/12 16:24:12 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 16:24:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:24:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:24:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.948s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:24:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.636[m] 97.043[deg] [grasp_sample.py: 539] +05/12 16:24:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:24:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:24:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:24:14 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:24:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 16:24:14 INFO: [Worker 0] Preparing episode data: 296 timesteps [save_utils.py: 278] +05/12 16:24:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:24:20 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:24:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 16:24:20 INFO: [Worker 0] Preparing episode data: 299 timesteps [save_utils.py: 278] +05/12 16:24:21 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:24:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 16:24:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:24:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:24:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:24:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.82s (batch: 4.31s, save: 11.51s) [pipeline.py: 300] +05/12 16:24:31 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.40s: + episode_total: mean=207.19s, total=207.19s, count=1, min=207188.8ms, max=207188.8ms + sensor_polling: mean=388.5ms, total=114.61s, count=295, min=369.3ms, max=703.2ms + save_trajectories: mean=11.51s, total=11.51s, count=1, min=11505.0ms, max=11505.0ms + physics_step: mean=23.2ms, total=6.84s, count=295, min=17.0ms, max=33.4ms + save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4310.3ms, max=4310.3ms + task_sampling: mean=3.40s, total=3.40s, count=1, min=3396.6ms, max=3396.6ms + scene_load: mean=2.95s, total=2.95s, count=1, min=2951.2ms, max=2951.2ms + scene_env_create: mean=1.81s, total=1.81s, count=1, min=1806.9ms, max=1806.9ms + scene_compile: mean=920.2ms, total=920.2ms, count=1, min=920.2ms, max=920.2ms + compile_mujoco: mean=628.9ms, total=628.9ms, count=1, min=628.9ms, max=628.9ms + task_specific_sample: mean=441.8ms, total=441.8ms, count=1, min=441.8ms, max=441.8ms + compile_xml_load: mean=217.3ms, total=217.3ms, count=1, min=217.3ms, max=217.3ms + scene_init: mean=116.8ms, total=116.8ms, count=1, min=116.8ms, max=116.8ms + scene_asset_install: mean=106.8ms, total=106.8ms, count=1, min=106.8ms, max=106.8ms + asset_install_grasps: mean=89.3ms, total=89.3ms, count=1, min=89.3ms, max=89.3ms + compile_aux_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + compile_aux_policy_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + asset_install_objects: mean=14.1ms, total=14.1ms, count=1, min=14.1ms, max=14.1ms + compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=630.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=73.8us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 16:24:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:24:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:24:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:24:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:24:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:24:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:24:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:24:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:24:32 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 16:24:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:24:32 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 16:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013919m [env.py: 870] +05/12 16:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:24:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90679015 0.83885681 0.01391948] yaw=-172.6deg [env.py: 1019] +05/12 16:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75982095 0.3925016 0.01391948] yaw=167.0deg [env.py: 1019] +05/12 16:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74141884 -0.01145186 0.01391948] yaw=168.5deg [env.py: 1019] +05/12 16:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:24:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.5ms, total=101.6ms [env.py: 1075] +05/12 16:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.907, 0.839, 0.014) [env.py: 1079] +05/12 16:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.6 deg [env.py: 1082] +05/12 16:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/12 16:24:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:24:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:24:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:24:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:24:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:24:32 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 16:24:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 16:24:32 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 16:24:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:24:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:24:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.014s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:24:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.524[m] 101.299[deg] [grasp_sample.py: 539] +05/12 16:24:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:24:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:24:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:24:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:24:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:24:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:24:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.68s (batch: 4.06s, save: 11.62s) [pipeline.py: 300] +05/12 16:24:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:24:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:24:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.01s (batch: 4.13s, save: 10.88s) [pipeline.py: 300] +05/12 16:24:36 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.93s: + episode_total: mean=218.09s, total=218.09s, count=1, min=218088.5ms, max=218088.5ms + sensor_polling: mean=409.6ms, total=122.08s, count=298, min=392.5ms, max=708.6ms + save_trajectories: mean=11.62s, total=11.62s, count=1, min=11618.9ms, max=11618.9ms + physics_step: mean=24.1ms, total=7.19s, count=298, min=17.2ms, max=34.1ms + save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4057.8ms, max=4057.8ms + task_sampling: mean=3.93s, total=3.93s, count=1, min=3934.9ms, max=3934.9ms + scene_load: mean=3.43s, total=3.43s, count=1, min=3428.4ms, max=3428.4ms + scene_env_create: mean=1.96s, total=1.96s, count=1, min=1963.7ms, max=1963.7ms + scene_compile: mean=1.29s, total=1.29s, count=1, min=1292.1ms, max=1292.1ms + compile_mujoco: mean=750.3ms, total=750.3ms, count=1, min=750.3ms, max=750.3ms + task_specific_sample: mean=502.8ms, total=502.8ms, count=1, min=502.8ms, max=502.8ms + compile_xml_load: mean=451.2ms, total=451.2ms, count=1, min=451.2ms, max=451.2ms + scene_init: mean=115.2ms, total=115.2ms, count=1, min=115.2ms, max=115.2ms + scene_asset_install: mean=56.9ms, total=56.9ms, count=1, min=56.9ms, max=56.9ms + compile_aux_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + compile_aux_policy_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + asset_install_grasps: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms + compile_robot_add: mean=24.7ms, total=24.7ms, count=1, min=24.7ms, max=24.7ms + asset_install_objects: mean=12.7ms, total=12.7ms, count=1, min=12.7ms, max=12.7ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=442.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=44.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:24:37 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.92s: + episode_total: mean=218.71s, total=218.71s, count=1, min=218712.4ms, max=218712.4ms + sensor_polling: mean=394.7ms, total=118.40s, count=300, min=372.0ms, max=589.2ms + save_trajectories: mean=10.88s, total=10.88s, count=1, min=10880.1ms, max=10880.1ms + physics_step: mean=25.0ms, total=7.49s, count=300, min=18.3ms, max=35.8ms + save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4127.2ms, max=4127.2ms + task_sampling: mean=3.92s, total=3.92s, count=1, min=3917.7ms, max=3917.7ms + scene_load: mean=3.44s, total=3.44s, count=1, min=3438.7ms, max=3438.7ms + scene_env_create: mean=2.03s, total=2.03s, count=1, min=2025.8ms, max=2025.8ms + scene_compile: mean=1.22s, total=1.22s, count=1, min=1219.4ms, max=1219.4ms + compile_mujoco: mean=772.4ms, total=772.4ms, count=1, min=772.4ms, max=772.4ms + task_specific_sample: mean=469.6ms, total=469.6ms, count=1, min=469.6ms, max=469.6ms + compile_xml_load: mean=353.6ms, total=353.6ms, count=1, min=353.6ms, max=353.6ms + scene_init: mean=139.6ms, total=139.6ms, count=1, min=139.6ms, max=139.6ms + 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=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms + asset_install_grasps: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms + compile_robot_add: mean=28.2ms, total=28.2ms, count=1, min=28.2ms, max=28.2ms + asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms + scene_randomize: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=639.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=198.3us, total=0.2ms, count=1, min=0.2ms, max=0.2ms [profiler_utils.py: 380] +05/12 16:24:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:24:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:24:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:24:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:24:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:24:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:24:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:24:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:24:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:24:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:24:38 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 16:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059610m [env.py: 870] +05/12 16:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:24:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73463906 0.39850937 0.05960977] yaw=175.6deg [env.py: 1019] +05/12 16:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76492241 0.818368 0.05960977] yaw=-159.7deg [env.py: 1019] +05/12 16:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:24:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=325.9ms, total=325.9ms [env.py: 1075] +05/12 16:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.735, 0.399, 0.060) [env.py: 1079] +05/12 16:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.6 deg [env.py: 1082] +05/12 16:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/12 16:24:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:24:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:24:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:24:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:24:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:24:39 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 16:24:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:24:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:24:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:24:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:24:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:24:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:24:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:24:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:24:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:24:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:24:39 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 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099786m [env.py: 870] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:24:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:24:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/12 16:24:39 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 16:24:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70030211 0.72349495 0.09978588] yaw=-156.5deg [env.py: 1019] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91462594 0.40589276 0.09978588] yaw=196.9deg [env.py: 1019] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.77234428 0.93966449 0.09978588] yaw=-151.5deg [env.py: 1019] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:24:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.2ms, total=163.3ms [env.py: 1075] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.700, 0.723, 0.100) [env.py: 1079] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg [env.py: 1082] +05/12 16:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/12 16:24:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:24:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:24:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:24:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:24:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.126s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:24:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:24:39 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 16:24:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 16:24:39 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 16:24:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:24:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:24:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.896s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:24:40 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.543[m] 86.957[deg] [grasp_sample.py: 539] +05/12 16:24:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:24:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:24:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:24:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.164s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:24:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.562[m] 78.263[deg] [grasp_sample.py: 539] +05/12 16:24:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:24:41 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 16:24:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:24:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:25:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:25:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:25:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:25:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:25:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:25:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:25:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:25:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:25:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:25:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:25:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:25:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:25:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:25:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:25:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:25:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:25:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:25:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:25:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:25:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:25:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:25:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:25:45 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 16:25:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:25:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 16:25:45 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.669s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:25:45 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.420[deg] [grasp_sample.py: 539] +05/12 16:25:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:25:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:25:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:25:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:26:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:26:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:26:36 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 16:26:36 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=0.47s: + episode_total: mean=144.29s, total=144.29s, count=1, min=144292.5ms, max=144292.5ms + sensor_polling: mean=387.6ms, total=116.27s, count=300, min=365.8ms, max=788.2ms + physics_step: mean=23.1ms, total=6.93s, count=300, min=15.9ms, max=30.9ms + task_sampling: mean=468.6ms, total=468.6ms, count=1, min=468.6ms, max=468.6ms + task_specific_sample: mean=466.0ms, total=466.0ms, count=1, min=466.0ms, max=466.0ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=450.6us, 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 16:26:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:26:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:26:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:26:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:26:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:26:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:26:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:26:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:26:38 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 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054801m [env.py: 870] +05/12 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:26:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95078197 0.21796278 0.05480138] yaw=180.4deg [env.py: 1019] +05/12 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75965485 0.0083468 0.05480138] yaw=126.3deg [env.py: 1019] +05/12 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94602718 0.16851817 0.05480138] yaw=190.5deg [env.py: 1019] +05/12 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:26:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.7ms, total=156.7ms [env.py: 1075] +05/12 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.218, 0.055) [env.py: 1079] +05/12 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.4 deg [env.py: 1082] +05/12 16:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m [env.py: 1086] +05/12 16:26:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:26:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:26:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:26:38 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 16:26:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 16:26:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:26:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:26:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:26:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.728s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:26:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.397[m] 85.630[deg] [grasp_sample.py: 539] +05/12 16:26:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:26:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:26:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:26:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:26:41 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:26:47 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:27:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:27:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:27:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:27:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:27:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:27:09 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:27:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 16:27:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:27:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:27:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:27:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:27:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:27:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:27:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:27:13 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 16:27:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:27:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 16:27:14 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.607s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:27:14 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.326[deg] [grasp_sample.py: 539] +05/12 16:27:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:27:14 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:27:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 16:27:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:27:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:27:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:27:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:27:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:27:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:27:25 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:27:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:27:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:27:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 16.40s (batch: 4.81s, save: 11.59s) [pipeline.py: 300] +05/12 16:27:26 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.41s: + episode_total: mean=174.46s, total=174.46s, count=1, min=174462.8ms, max=174462.8ms + sensor_polling: mean=392.7ms, total=117.80s, count=300, min=372.3ms, max=724.1ms + save_trajectories: mean=11.59s, total=11.59s, count=1, min=11593.8ms, max=11593.8ms + physics_step: mean=22.9ms, total=6.87s, count=300, min=16.7ms, max=59.1ms + save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4810.9ms, max=4810.9ms + task_sampling: mean=406.0ms, total=406.0ms, count=1, min=406.0ms, max=406.0ms + task_specific_sample: mean=401.6ms, total=401.6ms, count=1, min=401.6ms, max=401.6ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=452.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.5us, 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 16:27:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:27:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:27:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:27:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:27:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:27:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:27:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:27:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:27:28 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 16:27:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:27:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011363m [env.py: 870] +05/12 16:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:27:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81752341 0.95412076 0.01136314] yaw=-120.9deg [env.py: 1019] +05/12 16:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92750142 0.58530411 0.01136314] yaw=-181.8deg [env.py: 1019] +05/12 16:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75537917 0.30608175 0.01136314] yaw=192.0deg [env.py: 1019] +05/12 16:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:27:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=115.3ms, total=115.4ms [env.py: 1075] +05/12 16:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.818, 0.954, 0.011) [env.py: 1079] +05/12 16:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.9 deg [env.py: 1082] +05/12 16:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/12 16:27:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:27:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:27:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:27:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:27:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:27:28 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 16:27:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/12 16:27:29 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 16:27:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:27:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:27:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:27:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:27:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.02s (batch: 4.26s, save: 10.76s) [pipeline.py: 300] +05/12 16:27:30 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.46s: + episode_total: mean=171.31s, total=171.31s, count=1, min=171306.0ms, max=171306.0ms + sensor_polling: mean=388.8ms, total=116.63s, count=300, min=372.6ms, max=686.1ms + save_trajectories: mean=10.76s, total=10.76s, count=1, min=10763.7ms, max=10763.7ms + physics_step: mean=23.5ms, total=7.05s, count=300, min=18.5ms, max=33.4ms + save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4259.1ms, max=4259.1ms + task_sampling: mean=459.4ms, total=459.4ms, count=1, min=459.4ms, max=459.4ms + task_specific_sample: mean=455.3ms, total=455.3ms, count=1, min=455.3ms, max=455.3ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=452.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.1us, 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 16:27:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.722s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:27:31 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.645[m] 84.719[deg] [grasp_sample.py: 539] +05/12 16:27:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:27:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:27:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:27:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:27:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:27:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:27:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:27:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:27:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:27:32 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 16:27:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:27:32 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 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046623m [env.py: 870] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:27:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94756733 1.25752861 0.04662253] yaw=-132.7deg [env.py: 1019] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.03966801 1.309263 0.04662253] yaw=-156.1deg [env.py: 1019] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.02312875 0.11156942 0.04662253] yaw=185.5deg [env.py: 1019] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:27:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=272.1ms, total=272.2ms [env.py: 1075] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.948, 1.258, 0.047) [env.py: 1079] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.7 deg [env.py: 1082] +05/12 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 16:27:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:27:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:27:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:27:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:27:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:27:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:27:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:27:32 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 16:27:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/12 16:27:32 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 16:27:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:27:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:27:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.468s, found feasible grasp: False [grasp_sample.py: 500] +05/12 16:27:35 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 16:27:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:27:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:27:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:27:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:27:36 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 16:27:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:27:36 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 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098523m [env.py: 870] +05/12 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:27:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75831374 0.32537944 0.09852297] yaw=141.7deg [env.py: 1019] +05/12 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86349395 0.74562852 0.09852297] yaw=-122.8deg [env.py: 1019] +05/12 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97286287 0.97150723 0.09852297] yaw=-149.1deg [env.py: 1019] +05/12 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:27:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.5ms, total=184.5ms [env.py: 1075] +05/12 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.758, 0.325, 0.099) [env.py: 1079] +05/12 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.7 deg [env.py: 1082] +05/12 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/12 16:27:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:27:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:27:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:27:37 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 16:27:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/12 16:27:37 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 16:27:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:27:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:27:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.929s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:27:38 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.604[m] 95.897[deg] [grasp_sample.py: 539] +05/12 16:27:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:27:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:27:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:27:39 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 16:27:52 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:27:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 16:27:52 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:28:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:28:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:28:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.37s (batch: 4.36s, save: 11.02s) [pipeline.py: 300] +05/12 16:28:08 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.64s: + episode_total: mean=210.38s, total=210.38s, count=1, min=210383.0ms, max=210383.0ms + sensor_polling: mean=440.1ms, total=132.02s, count=300, min=404.2ms, max=747.6ms + save_trajectories: mean=11.02s, total=11.02s, count=1, min=11015.7ms, max=11015.7ms + physics_step: mean=25.1ms, total=7.53s, count=300, min=15.5ms, max=36.1ms + save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4356.0ms, max=4356.0ms + task_sampling: mean=635.1ms, total=635.1ms, count=1, min=635.1ms, max=635.1ms + task_specific_sample: mean=630.9ms, total=630.9ms, count=1, min=630.9ms, max=630.9ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=453.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=36.3us, 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 16:28:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:28:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:28:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:28:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:28:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:28:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:28:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:28:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:28:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:28:10 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 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085034m [env.py: 870] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:28:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67872471 0.88208723 0.08503372] yaw=-157.4deg [env.py: 1019] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93202257 0.99237566 0.08503372] yaw=-178.7deg [env.py: 1019] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7105452 0.23103609 0.08503372] yaw=133.9deg [env.py: 1019] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:28:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=659.2ms, total=659.3ms [env.py: 1075] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.882, 0.085) [env.py: 1079] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.4 deg [env.py: 1082] +05/12 16:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/12 16:28:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:28:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:28:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:28:11 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 16:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:28:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 16:28:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:28:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:28:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:28:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:28:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.968s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:28:15 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.719[m] 98.676[deg] [grasp_sample.py: 539] +05/12 16:28:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:28:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:28:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:28:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:28:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:28:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:28:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:28:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:28:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:28:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:28:21 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 16:28:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:28:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 16:28:22 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.743s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:28:22 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.626[deg] [grasp_sample.py: 539] +05/12 16:28:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:28:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:28:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:28:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:28:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:28:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:28:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:28:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:28:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:28:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:28:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:28:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:28:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:28:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:28:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:28:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:28:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:28:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:28:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:28:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:28:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:28:55 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 16:28:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:28:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 82 non-colliding grasps [grasp_sample.py: 465] +05/12 16:28:57 INFO: [Worker 0] Feasibility-checked 82 grasps in 2.014s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:28:57 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.042[m] 1.433[deg] [grasp_sample.py: 539] +05/12 16:28:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:28:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:28:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:29:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:29:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:29:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:29:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:29:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:29:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:29:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:29:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:29:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:29:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:29:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:29:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:29:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:29:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:29:20 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 16:29:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:29:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 16:29:24 INFO: [Worker 0] Feasibility-checked 80 grasps in 3.465s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:29:24 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.111[m] 1.672[deg] [grasp_sample.py: 539] +05/12 16:29:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:29:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:29:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:29:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:29:28 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:29:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:29:38 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:29:57 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:29:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 16:29:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:30:05 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:30:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 16:30:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:30:11 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:30:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:30:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:30:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.86s (batch: 4.31s, save: 11.55s) [pipeline.py: 300] +05/12 16:30:14 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.42s: + episode_total: mean=216.26s, total=216.26s, count=1, min=216262.0ms, max=216262.0ms + sensor_polling: mean=398.4ms, total=119.53s, count=300, min=367.1ms, max=821.3ms + save_trajectories: mean=11.55s, total=11.55s, count=1, min=11550.4ms, max=11550.4ms + physics_step: mean=24.2ms, total=7.25s, count=300, min=15.3ms, max=34.0ms + save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4311.8ms, max=4311.8ms + task_sampling: mean=420.7ms, total=420.7ms, count=1, min=420.7ms, max=420.7ms + task_specific_sample: mean=416.1ms, total=416.1ms, count=1, min=416.1ms, max=416.1ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=456.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.1us, 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 16:30:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:30:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:30:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:30:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:30:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:30:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:30:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:30:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:30:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:30:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:30:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087005m [env.py: 870] +05/12 16:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:30:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88574179 0.60222901 0.08700485] yaw=-207.7deg [env.py: 1019] +05/12 16:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66706353 0.53468748 0.08700485] yaw=-193.2deg [env.py: 1019] +05/12 16:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86783755 1.17003604 0.08700485] yaw=-115.6deg [env.py: 1019] +05/12 16:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:30:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.4ms, total=214.4ms [env.py: 1075] +05/12 16:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.886, 0.602, 0.087) [env.py: 1079] +05/12 16:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -207.7 deg [env.py: 1082] +05/12 16:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m [env.py: 1086] +05/12 16:30:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:30:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:30:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:30:16 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 16:30:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/12 16:30:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:30:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:30:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:30:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.987s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:30:17 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.513[m] 93.770[deg] [grasp_sample.py: 539] +05/12 16:30:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:30:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:30:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:30:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:30:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:30:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.16s (batch: 4.08s, save: 11.07s) [pipeline.py: 300] +05/12 16:30:21 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.44s: + episode_total: mean=172.57s, total=172.57s, count=1, min=172570.5ms, max=172570.5ms + sensor_polling: mean=389.2ms, total=116.76s, count=300, min=365.1ms, max=765.0ms + save_trajectories: mean=11.07s, total=11.07s, count=1, min=11071.9ms, max=11071.9ms + physics_step: mean=22.7ms, total=6.80s, count=300, min=16.7ms, max=31.3ms + save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4084.8ms, max=4084.8ms + task_sampling: mean=444.8ms, total=444.8ms, count=1, min=444.8ms, max=444.8ms + task_specific_sample: mean=440.0ms, total=440.0ms, count=1, min=440.0ms, max=440.0ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=689.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=19.5us, 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 16:30:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:30:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:30:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:30:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:30:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:30:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:30:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:30:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:30:22 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 16:30:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:30:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078759m [env.py: 870] +05/12 16:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:30:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79068531 0.12133015 0.07875946] yaw=180.2deg [env.py: 1019] +05/12 16:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78222405 0.09648714 0.07875946] yaw=184.3deg [env.py: 1019] +05/12 16:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:30:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.4ms, total=200.5ms [env.py: 1075] +05/12 16:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.791, 0.121, 0.079) [env.py: 1079] +05/12 16:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.2 deg [env.py: 1082] +05/12 16:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/12 16:30:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:30:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:30:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:30:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:30:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:30:22 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 16:30:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 16:30:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:30:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:30:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:30:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.109s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:30:24 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.609[m] 94.418[deg] [grasp_sample.py: 539] +05/12 16:30:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:30:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:30:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:30:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:30:36 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:30:37 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:30:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 16:30:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:30:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:30:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:30:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.19s (batch: 4.45s, save: 10.74s) [pipeline.py: 300] +05/12 16:30:53 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.04s: + episode_total: mean=100.15s, total=200.30s, count=2, min=3249.9ms, max=197051.2ms + sensor_polling: mean=403.8ms, total=121.13s, count=300, min=369.9ms, max=713.4ms + save_trajectories: mean=10.74s, total=10.74s, count=1, min=10741.4ms, max=10741.4ms + physics_step: mean=23.7ms, total=7.12s, count=300, min=15.0ms, max=36.6ms + save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4445.2ms, max=4445.2ms + task_sampling: mean=520.9ms, total=1.04s, count=2, min=459.9ms, max=581.8ms + task_specific_sample: mean=516.7ms, total=1.03s, count=2, min=455.6ms, max=577.8ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.8ms, max=2.6ms + mj_forward_sync: mean=456.8us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=20.7us, 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 16:30:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:30:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:30:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:30:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:30:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:30:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:30:55 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 16:30:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:30:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005111m [env.py: 870] +05/12 16:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:30:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87226443 1.13273845 0.00511081] yaw=-124.9deg [env.py: 1019] +05/12 16:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.67908832 0.61410232 0.00511081] yaw=-180.2deg [env.py: 1019] +05/12 16:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.64695913 0.52531335 0.00511081] yaw=-143.7deg [env.py: 1019] +05/12 16:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:30:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.8ms, total=200.8ms [env.py: 1075] +05/12 16:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.872, 1.133, 0.005) [env.py: 1079] +05/12 16:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.9 deg [env.py: 1082] +05/12 16:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m [env.py: 1086] +05/12 16:30:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:30:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:30:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:30:56 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 16:30:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/12 16:30:56 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 16:30:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:30:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:30:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.899s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:30:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.667[m] 96.651[deg] [grasp_sample.py: 539] +05/12 16:30:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:31:00 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:31:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:31:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:31:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:31:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:31:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:31:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:31:02 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 16:31:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:31:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032774m [env.py: 870] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:31:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9018017 0.66323697 0.03277358] yaw=-143.8deg [env.py: 1019] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.72156706 0.16358673 0.03277358] yaw=127.5deg [env.py: 1019] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.72825034 0.21513469 0.03277358] yaw=145.0deg [env.py: 1019] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:31:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=354.8ms, total=354.8ms [env.py: 1075] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.902, 0.663, 0.033) [env.py: 1079] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.8 deg [env.py: 1082] +05/12 16:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m [env.py: 1086] +05/12 16:31:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:31:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:31:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:31:02 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 16:31:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 16:31:02 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 16:31:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:31:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:31:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.869s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:31:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.420[m] 81.352[deg] [grasp_sample.py: 539] +05/12 16:31:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:31:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:31:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:31:04 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 16:31:05 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:31:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 16:31:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:31:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:31:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:31:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:31:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:31:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:31:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.34s (batch: 4.43s, save: 10.91s) [pipeline.py: 300] +05/12 16:31:22 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.97s: + episode_total: mean=191.79s, total=191.79s, count=1, min=191790.1ms, max=191790.1ms + sensor_polling: mean=436.9ms, total=131.08s, count=300, min=391.6ms, max=841.2ms + save_trajectories: mean=10.91s, total=10.91s, count=1, min=10914.5ms, max=10914.5ms + physics_step: mean=23.6ms, total=7.09s, count=300, min=17.2ms, max=94.8ms + save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4426.7ms, max=4426.7ms + task_sampling: mean=973.8ms, total=973.8ms, count=1, min=973.8ms, max=973.8ms + task_specific_sample: mean=969.8ms, total=969.8ms, count=1, min=969.8ms, max=969.8ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=478.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:31:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:31:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:31:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:31:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:31:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:31:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:31:23 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 16:31:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:31:23 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 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046156m [env.py: 870] +05/12 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:31:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09025539 0.98144833 0.04615587] yaw=-103.1deg [env.py: 1019] +05/12 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83792583 0.72516237 0.04615587] yaw=-194.4deg [env.py: 1019] +05/12 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:31:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.7ms, total=221.7ms [env.py: 1075] +05/12 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.090, 0.981, 0.046) [env.py: 1079] +05/12 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -103.1 deg [env.py: 1082] +05/12 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.790m [env.py: 1086] +05/12 16:31:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:31:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:31:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:31:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:31:24 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 16:31:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s [base_object_manipulation_planner_policy.py: 377] +05/12 16:31:24 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 16:31:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:31:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:31:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.917s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:31:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.500[m] 99.748[deg] [grasp_sample.py: 539] +05/12 16:31:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:31:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:31:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:31:26 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 16:31:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:31:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:31:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:31:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:32:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:32:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:32:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:32:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:32:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:32:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:32:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:32:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:32:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:32:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:32:41 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 16:32:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:32:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 16:32:42 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.597s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:32:42 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 1.062[deg] [grasp_sample.py: 539] +05/12 16:32:42 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:32:43 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:32:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:32:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:32:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:32:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:32:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:32:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:32:45 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 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070133m [env.py: 870] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:32:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86856798 0.52077087 0.07013265] yaw=-184.4deg [env.py: 1019] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9975063 1.07106062 0.07013265] yaw=-175.4deg [env.py: 1019] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03590873 1.10217567 0.07013265] yaw=-127.3deg [env.py: 1019] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:32:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=209.4ms, total=209.5ms [env.py: 1075] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.521, 0.070) [env.py: 1079] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -184.4 deg [env.py: 1082] +05/12 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/12 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:32:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:32:46 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 16:32:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 16:32:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:32:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:32:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:32:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.822s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:32:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.375[m] 76.921[deg] [grasp_sample.py: 539] +05/12 16:32:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:32:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:32:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:33:06 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:33:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 16:33:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:33:11 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:33:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:33:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:33:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:33:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.56s (batch: 3.72s, save: 11.85s) [pipeline.py: 300] +05/12 16:33:23 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.51s: + episode_total: mean=187.23s, total=187.23s, count=1, min=187228.8ms, max=187228.8ms + sensor_polling: mean=391.1ms, total=117.34s, count=300, min=367.6ms, max=841.3ms + save_trajectories: mean=11.85s, total=11.85s, count=1, min=11846.1ms, max=11846.1ms + physics_step: mean=24.7ms, total=7.41s, count=300, min=16.8ms, max=34.1ms + save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3717.0ms, max=3717.0ms + task_sampling: mean=505.5ms, total=505.5ms, count=1, min=505.5ms, max=505.5ms + task_specific_sample: mean=493.7ms, total=493.7ms, count=1, min=493.7ms, max=493.7ms + scene_randomize: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms + mj_forward_sync: mean=505.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:33:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:33:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:33:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:33:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:33:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:33:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:33:24 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 16:33:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:33:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009543m [env.py: 870] +05/12 16:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:33:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06573428 0.89581232 0.00954316] yaw=-113.8deg [env.py: 1019] +05/12 16:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84351225 0.22294519 0.00954316] yaw=151.2deg [env.py: 1019] +05/12 16:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:33:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=212.4ms, total=212.5ms [env.py: 1075] +05/12 16:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.066, 0.896, 0.010) [env.py: 1079] +05/12 16:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -113.8 deg [env.py: 1082] +05/12 16:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.759m [env.py: 1086] +05/12 16:33:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:33:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:33:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:33:25 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 16:33:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 16:33:25 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 16:33:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:33:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:33:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:33:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.096s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:33:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.461[m] 101.794[deg] [grasp_sample.py: 539] +05/12 16:33:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:33:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:33:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:33:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:33:38 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:33:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 16:33:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:33:45 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:33:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:33:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:33:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.16s (batch: 4.24s, save: 10.92s) [pipeline.py: 300] +05/12 16:33:54 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.16s: + episode_total: mean=88.55s, total=177.10s, count=2, min=4832.0ms, max=172267.5ms + sensor_polling: mean=392.4ms, total=117.73s, count=300, min=372.2ms, max=720.2ms + save_trajectories: mean=10.92s, total=10.92s, count=1, min=10916.7ms, max=10916.7ms + physics_step: mean=24.1ms, total=7.23s, count=300, min=18.4ms, max=37.7ms + save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4243.9ms, max=4243.9ms + task_sampling: mean=578.9ms, total=1.16s, count=2, min=505.4ms, max=652.3ms + task_specific_sample: mean=574.4ms, total=1.15s, count=2, min=501.1ms, max=647.7ms + scene_randomize: mean=2.7ms, total=5.5ms, count=2, min=2.5ms, max=2.9ms + mj_forward_sync: mean=470.3us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=33.6us, 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 16:33:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:33:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:33:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:33:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:33:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:33:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:33:55 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 16:33:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:33:55 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 16:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059676m [env.py: 870] +05/12 16:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:33:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87064344 0.53335417 0.05967642] yaw=-175.9deg [env.py: 1019] +05/12 16:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.01450353 0.97466153 0.05967642] yaw=-117.4deg [env.py: 1019] +05/12 16:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03437388 0.87843738 0.05967642] yaw=-179.4deg [env.py: 1019] +05/12 16:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:33:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=193.9ms, total=193.9ms [env.py: 1075] +05/12 16:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.533, 0.060) [env.py: 1079] +05/12 16:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.9 deg [env.py: 1082] +05/12 16:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m [env.py: 1086] +05/12 16:33:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:33:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:33:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:33:56 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 16:33:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 16:33:56 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 16:33:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:33:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:33:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.754s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:33:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.380[m] 90.537[deg] [grasp_sample.py: 539] +05/12 16:33:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:33:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:33:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:33:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:34:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:34:12 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:34:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 16:34:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:34:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:34:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:34:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:34:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:34:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 16.19s (batch: 4.91s, save: 11.27s) [pipeline.py: 300] +05/12 16:34:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:34:29 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.59s: + episode_total: mean=186.20s, total=186.20s, count=1, min=186198.0ms, max=186198.0ms + sensor_polling: mean=433.0ms, total=129.90s, count=300, min=394.3ms, max=820.3ms + save_trajectories: mean=11.27s, total=11.27s, count=1, min=11273.7ms, max=11273.7ms + physics_step: mean=24.0ms, total=7.21s, count=300, min=16.7ms, max=33.7ms + save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4913.2ms, max=4913.2ms + task_sampling: mean=594.4ms, total=594.4ms, count=1, min=594.4ms, max=594.4ms + task_specific_sample: mean=588.5ms, total=588.5ms, count=1, min=588.5ms, max=588.5ms + scene_randomize: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + mj_forward_sync: mean=463.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:34:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:34:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:34:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:34:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:34:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:34:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:34:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:34:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:34:31 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 16:34:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:34:31 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 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042845m [env.py: 870] +05/12 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:34:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84829894 0.66774621 0.04284455] yaw=-154.7deg [env.py: 1019] +05/12 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78692261 0.57553658 0.04284455] yaw=-207.2deg [env.py: 1019] +05/12 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94923396 0.5319724 0.04284455] yaw=-148.7deg [env.py: 1019] +05/12 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:34:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.5ms, total=167.5ms [env.py: 1075] +05/12 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.668, 0.043) [env.py: 1079] +05/12 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.7 deg [env.py: 1082] +05/12 16:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 16:34:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:34:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:34:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:34:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:34:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:34:31 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 16:34:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/12 16:34:31 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 16:34:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:34:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:34:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.778s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:34:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.484[m] 98.349[deg] [grasp_sample.py: 539] +05/12 16:34:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:34:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:34:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:34:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:34:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:34:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:34:55 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:35:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:35:22 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:35:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 16:35:22 INFO: [Worker 0] Preparing episode data: 295 timesteps [save_utils.py: 278] +05/12 16:35:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:35:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:35:36 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:35:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:35:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:35:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.33s (batch: 4.15s, save: 11.19s) [pipeline.py: 300] +05/12 16:35:38 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.98s: + episode_total: mean=157.34s, total=314.67s, count=2, min=141397.1ms, max=173274.9ms + sensor_polling: mean=398.0ms, total=236.02s, count=593, min=370.7ms, max=854.4ms + physics_step: mean=24.6ms, total=14.58s, count=593, min=16.7ms, max=36.0ms + save_trajectories: mean=11.19s, total=11.19s, count=1, min=11186.8ms, max=11186.8ms + save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4147.3ms, max=4147.3ms + task_sampling: mean=490.7ms, total=981.5ms, count=2, min=478.4ms, max=503.0ms + task_specific_sample: mean=486.3ms, total=972.5ms, count=2, min=473.4ms, max=499.1ms + scene_randomize: mean=2.6ms, total=5.2ms, count=2, min=2.5ms, max=2.7ms + mj_forward_sync: mean=587.4us, total=1.2ms, count=2, min=0.4ms, max=0.7ms + policy_setup: mean=20.7us, 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 16:35:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:35:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:35:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:35:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:35:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:35:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:35:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:35:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:35:40 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 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050445m [env.py: 870] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:35:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77302073 0.18953699 0.05044454] yaw=183.6deg [env.py: 1019] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94652656 0.18599055 0.05044454] yaw=124.3deg [env.py: 1019] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0119833 0.18144682 0.05044454] yaw=188.0deg [env.py: 1019] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:35:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.0ms, total=247.1ms [env.py: 1075] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.773, 0.190, 0.050) [env.py: 1079] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.6 deg [env.py: 1082] +05/12 16:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/12 16:35:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:35:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:35:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:35:41 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 16:35:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/12 16:35:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:35:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:35:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:35:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.027s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:35:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.611[m] 101.184[deg] [grasp_sample.py: 539] +05/12 16:35:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:35:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:35:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:35:43 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 16:36:01 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:36:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 16:36:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:36:08 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:36:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:36:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:36:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.03s (batch: 4.18s, save: 10.86s) [pipeline.py: 300] +05/12 16:36:17 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.52s: + episode_total: mean=172.42s, total=172.42s, count=1, min=172422.9ms, max=172422.9ms + sensor_polling: mean=398.2ms, total=119.46s, count=300, min=362.6ms, max=779.6ms + save_trajectories: mean=10.86s, total=10.86s, count=1, min=10858.0ms, max=10858.0ms + physics_step: mean=25.3ms, total=7.59s, count=300, min=21.9ms, max=36.2ms + save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4175.9ms, max=4175.9ms + task_sampling: mean=515.1ms, total=515.1ms, count=1, min=515.1ms, max=515.1ms + task_specific_sample: mean=510.8ms, total=510.8ms, count=1, min=510.8ms, max=510.8ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=472.0us, 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 16:36:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:36:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:36:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:36:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:36:18 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 16:36:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:36:18 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 16:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052742m [env.py: 870] +05/12 16:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:36:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79805249 1.04087378 0.05274214] yaw=-122.2deg [env.py: 1019] +05/12 16:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:36:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=192.6ms, total=192.7ms [env.py: 1075] +05/12 16:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.798, 1.041, 0.053) [env.py: 1079] +05/12 16:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.2 deg [env.py: 1082] +05/12 16:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/12 16:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:36:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:36:19 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 16:36:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 16:36:19 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 16:36:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:36:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:36:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.784s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:36:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.656[m] 92.824[deg] [grasp_sample.py: 539] +05/12 16:36:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:36:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:36:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:36:23 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 16:36:35 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:36:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 16:36:35 INFO: [Worker 0] Preparing episode data: 298 timesteps [save_utils.py: 278] +05/12 16:36:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:36:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:36:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:36:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:36:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:36:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 14.83s (batch: 4.21s, save: 10.61s) [pipeline.py: 300] +05/12 16:36:50 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.54s: + episode_total: mean=174.97s, total=174.97s, count=1, min=174970.7ms, max=174970.7ms + sensor_polling: mean=395.4ms, total=117.45s, count=297, min=372.3ms, max=697.8ms + save_trajectories: mean=10.61s, total=10.61s, count=1, min=10612.8ms, max=10612.8ms + physics_step: mean=25.0ms, total=7.43s, count=297, min=21.8ms, max=36.2ms + save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4214.0ms, max=4214.0ms + task_sampling: mean=541.5ms, total=541.5ms, count=1, min=541.5ms, max=541.5ms + task_specific_sample: mean=537.6ms, total=537.6ms, count=1, min=537.6ms, max=537.6ms + 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=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:36:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:36:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:36:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:36:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:36:52 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 16:36:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:36:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004076m [env.py: 870] +05/12 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:36:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78319152 0.28788452 0.00407643] yaw=201.9deg [env.py: 1019] +05/12 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.60464645 0.51045834 0.00407643] yaw=-213.9deg [env.py: 1019] +05/12 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06234314 1.07775252 0.00407643] yaw=-125.4deg [env.py: 1019] +05/12 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:36:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.9ms, total=115.9ms [env.py: 1075] +05/12 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.783, 0.288, 0.004) [env.py: 1079] +05/12 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 201.9 deg [env.py: 1082] +05/12 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m [env.py: 1086] +05/12 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:36:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:36:52 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 16:36:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 16:36:52 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 16:36:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:36:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:36:53 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:36:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.911s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:36:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.579[m] 86.004[deg] [grasp_sample.py: 539] +05/12 16:36:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:36:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:36:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:36:54 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 16:37:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:37:19 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:37:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 16:37:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:37:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:37:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:37:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:37:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:37:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.32s (batch: 4.33s, save: 11.00s) [pipeline.py: 300] +05/12 16:37:35 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.50s: + episode_total: mean=184.72s, total=184.72s, count=1, min=184717.7ms, max=184717.7ms + sensor_polling: mean=435.5ms, total=130.66s, count=300, min=396.7ms, max=839.7ms + save_trajectories: mean=11.00s, total=11.00s, count=1, min=10998.8ms, max=10998.8ms + physics_step: mean=24.4ms, total=7.31s, count=300, min=16.8ms, max=39.8ms + save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4326.0ms, max=4326.0ms + task_sampling: mean=500.9ms, total=500.9ms, count=1, min=500.9ms, max=500.9ms + task_specific_sample: mean=496.9ms, total=496.9ms, count=1, min=496.9ms, max=496.9ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=454.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:37:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:37:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:37:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:37:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:37:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:37:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:37:37 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 16:37:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:37:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047936m [env.py: 870] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:37:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97516967 0.20256007 0.04793585] yaw=139.5deg [env.py: 1019] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91189142 0.79844997 0.04793585] yaw=-156.8deg [env.py: 1019] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91056089 1.06508674 0.04793585] yaw=-111.6deg [env.py: 1019] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:37:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=301.0ms, total=301.0ms [env.py: 1075] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.203, 0.048) [env.py: 1079] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 139.5 deg [env.py: 1082] +05/12 16:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.779m [env.py: 1086] +05/12 16:37:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:37:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:37:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:37:37 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 16:37:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/12 16:37:37 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 16:37:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:37:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:37:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.889s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:37:38 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.356[m] 83.155[deg] [grasp_sample.py: 539] +05/12 16:37:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:37:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:37:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:37:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:37:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:37:54 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:37:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:38:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:38:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:38:21 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:38:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 16:38:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:38:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:38:30 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:38:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:38:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:38:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.14s (batch: 3.52s, save: 11.61s) [pipeline.py: 300] +05/12 16:38:37 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.92s: + episode_total: mean=176.89s, total=176.89s, count=1, min=176885.5ms, max=176885.5ms + sensor_polling: mean=404.3ms, total=121.28s, count=300, min=376.3ms, max=958.5ms + save_trajectories: mean=11.61s, total=11.61s, count=1, min=11612.4ms, max=11612.4ms + physics_step: mean=24.5ms, total=7.35s, count=300, min=16.9ms, max=34.2ms + save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3523.9ms, max=3523.9ms + task_sampling: mean=924.2ms, total=924.2ms, count=1, min=924.2ms, max=924.2ms + task_specific_sample: mean=919.9ms, total=919.9ms, count=1, min=919.9ms, max=919.9ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=452.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:38:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:38:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:38:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:38:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:38:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:38:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:38:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:38:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:38:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003778m [env.py: 870] +05/12 16:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:38:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01516484 0.97761086 0.00377802] yaw=-168.2deg [env.py: 1019] +05/12 16:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92431489 1.04024603 0.00377802] yaw=-153.3deg [env.py: 1019] +05/12 16:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7950515 0.17658494 0.00377802] yaw=123.6deg [env.py: 1019] +05/12 16:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:38:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.3ms, total=122.3ms [env.py: 1075] +05/12 16:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.015, 0.978, 0.004) [env.py: 1079] +05/12 16:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.2 deg [env.py: 1082] +05/12 16:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 16:38:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:38:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:38:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:38:38 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 16:38:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/12 16:38:39 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 16:38:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:38:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:38:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.894s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:38:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.499[m] 90.235[deg] [grasp_sample.py: 539] +05/12 16:38:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:38:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:38:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:38:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:38:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:38:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:39:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:39:00 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:39:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 16:39:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:39:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:39:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:39:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:39:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:39:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:39:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:39:06 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 16:39:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:39:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 16:39:07 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.768s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:39:07 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.362[deg] [grasp_sample.py: 539] +05/12 16:39:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:39:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:39:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:39:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:39:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:39:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:39:13 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:39:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:39:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:39:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:39:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.63s (batch: 5.07s, save: 10.55s) [pipeline.py: 300] +05/12 16:39:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:39:16 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.50s: + episode_total: mean=178.02s, total=178.02s, count=1, min=178019.4ms, max=178019.4ms + sensor_polling: mean=393.1ms, total=117.94s, count=300, min=361.6ms, max=792.1ms + save_trajectories: mean=10.55s, total=10.55s, count=1, min=10551.4ms, max=10551.4ms + physics_step: mean=24.5ms, total=7.36s, count=300, min=17.3ms, max=48.3ms + save_batch_prep: mean=5.07s, total=5.07s, count=1, min=5074.9ms, max=5074.9ms + task_sampling: mean=502.2ms, total=502.2ms, count=1, min=502.2ms, max=502.2ms + task_specific_sample: mean=498.4ms, total=498.4ms, count=1, min=498.4ms, max=498.4ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=448.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:39:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:39:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:39:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:39:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:39:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:39:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:39:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:39:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:39:18 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 16:39:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:39:18 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 16:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096413m [env.py: 870] +05/12 16:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:39:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78292813 0.6953738 0.09641338] yaw=-143.0deg [env.py: 1019] +05/12 16:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81850509 1.10989913 0.09641338] yaw=-139.9deg [env.py: 1019] +05/12 16:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:39:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.2ms, total=201.2ms [env.py: 1075] +05/12 16:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.783, 0.695, 0.096) [env.py: 1079] +05/12 16:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.0 deg [env.py: 1082] +05/12 16:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m [env.py: 1086] +05/12 16:39:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:39:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:39:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:39:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:39:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:39:18 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 16:39:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 16:39:18 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 16:39:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:39:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:39:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.203s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:39:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.581[m] 95.979[deg] [grasp_sample.py: 539] +05/12 16:39:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:39:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:39:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:39:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:39:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:39:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:39:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:39:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:39:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:39:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:39:40 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:39:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 16:39:40 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:39:42 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 16:39:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:39:42 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 16:39:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:39:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 72 non-colliding grasps [grasp_sample.py: 465] +05/12 16:39:44 INFO: [Worker 0] Feasibility-checked 72 grasps in 1.893s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:39:44 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.026[m] 3.446[deg] [grasp_sample.py: 539] +05/12 16:39:45 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:39:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:39:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:39:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:39:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:39:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:39:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:39:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:39:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:39:47 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 16:39:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:39:47 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 16:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088358m [env.py: 870] +05/12 16:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:39:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.17052507 1.06594374 0.08835764] yaw=-137.8deg [env.py: 1019] +05/12 16:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 124.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.14066152 1.10179997 0.08835764] yaw=-105.3deg [env.py: 1019] +05/12 16:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:39:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=474.8ms, total=474.9ms [env.py: 1075] +05/12 16:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.171, 1.066, 0.088) [env.py: 1079] +05/12 16:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.8 deg [env.py: 1082] +05/12 16:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.790m [env.py: 1086] +05/12 16:39:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:39:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:39:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:39:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:39:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:39:47 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 16:39:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 16:39:47 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 16:39:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:39:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:39:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.926s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:39:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.389[m] 84.329[deg] [grasp_sample.py: 539] +05/12 16:39:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:39:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:39:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:39:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:39:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:39:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.40s (batch: 4.83s, save: 10.56s) [pipeline.py: 300] +05/12 16:39:57 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.44s: + episode_total: mean=184.74s, total=184.74s, count=1, min=184743.1ms, max=184743.1ms + sensor_polling: mean=406.2ms, total=121.86s, count=300, min=374.3ms, max=762.0ms + save_trajectories: mean=10.56s, total=10.56s, count=1, min=10563.4ms, max=10563.4ms + physics_step: mean=24.5ms, total=7.36s, count=300, min=16.8ms, max=34.4ms + save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4832.1ms, max=4832.1ms + task_sampling: mean=443.4ms, total=443.4ms, count=1, min=443.4ms, max=443.4ms + task_specific_sample: mean=439.4ms, total=439.4ms, count=1, min=439.4ms, max=439.4ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=459.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=23.3us, 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 16:39:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:39:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:39:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:39:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:39:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:39:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:39:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:39:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:39:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012655m [env.py: 870] +05/12 16:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:39:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88899025 0.23400781 0.01265532] yaw=145.5deg [env.py: 1019] +05/12 16:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:39:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.6ms, total=220.7ms [env.py: 1075] +05/12 16:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.889, 0.234, 0.013) [env.py: 1079] +05/12 16:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.5 deg [env.py: 1082] +05/12 16:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/12 16:39:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:39:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:39:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:39:59 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 16:39:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/12 16:39:59 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 16:39:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:39:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:40:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.853s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:40:00 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.423[m] 87.759[deg] [grasp_sample.py: 539] +05/12 16:40:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:40:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:40:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:40:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:40:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:40:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:40:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:40:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:40:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:40:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:40:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:40:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:40:51 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:41:18 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:41:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 16:41:18 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:41:32 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:41:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:41:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:41:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.41s (batch: 4.12s, save: 11.29s) [pipeline.py: 300] +05/12 16:41:34 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.44s: + episode_total: mean=175.57s, total=175.57s, count=1, min=175570.5ms, max=175570.5ms + sensor_polling: mean=402.8ms, total=120.85s, count=300, min=370.8ms, max=933.0ms + save_trajectories: mean=11.29s, total=11.29s, count=1, min=11290.0ms, max=11290.0ms + physics_step: mean=23.7ms, total=7.12s, count=300, min=21.3ms, max=58.8ms + save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4124.0ms, max=4124.0ms + task_sampling: mean=437.0ms, total=437.0ms, count=1, min=437.0ms, max=437.0ms + task_specific_sample: mean=432.7ms, total=432.7ms, count=1, min=432.7ms, max=432.7ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=468.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:41:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:41:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:41:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:41:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:41:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:41:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:41:35 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 16:41:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:41:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058903m [env.py: 870] +05/12 16:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:41:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7477668 0.62976809 0.05890304] yaw=-170.7deg [env.py: 1019] +05/12 16:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67683361 0.14536547 0.05890304] yaw=177.4deg [env.py: 1019] +05/12 16:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65986196 0.53668109 0.05890304] yaw=-199.4deg [env.py: 1019] +05/12 16:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:41:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=122.5ms, total=122.5ms [env.py: 1075] +05/12 16:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.630, 0.059) [env.py: 1079] +05/12 16:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.7 deg [env.py: 1082] +05/12 16:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m [env.py: 1086] +05/12 16:41:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:41:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:41:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:41:36 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 16:41:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 16:41:36 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 16:41:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:41:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:41:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.951s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:41:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.533[m] 90.265[deg] [grasp_sample.py: 539] +05/12 16:41:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:41:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:41:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:41:38 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 16:41:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:41:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:41:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:41:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:41:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:41:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:41:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:41:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:41:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:41:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:41:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:41:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:41:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:41:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:41:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:41:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:41:53 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 16:41:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:41:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 16:41:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:41:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:41:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:41:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:41:55 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 16:41:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:41:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 16:41:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.672s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:41:56 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.105[m] 0.794[deg] [grasp_sample.py: 539] +05/12 16:41:56 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.703s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:41:56 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.605[deg] [grasp_sample.py: 539] +05/12 16:41:57 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:41:57 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:41:59 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:41:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 16:41:59 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:41:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:41:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:41:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:41:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:41:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:41:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:41:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:41:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:41:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:41:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:41:59 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 16:41:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:41:59 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 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031386m [env.py: 870] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:41:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:41:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:41:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:41:59 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 16:41:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:41:59 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 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096188m [env.py: 870] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:41:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02985688 1.1080939 0.09618848] yaw=-135.7deg [env.py: 1019] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.15779844 1.03174138 0.03138552] yaw=-154.5deg [env.py: 1019] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88228716 0.63776905 0.09618848] yaw=-202.8deg [env.py: 1019] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80030331 0.17186087 0.03138552] yaw=149.0deg [env.py: 1019] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97851651 0.96373505 0.09618848] yaw=-112.2deg [env.py: 1019] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:41:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=221.3ms, total=221.3ms [env.py: 1075] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.030, 1.108, 0.096) [env.py: 1079] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.7 deg [env.py: 1082] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/12 16:41:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:41:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:41:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=264.6ms, total=264.7ms [env.py: 1075] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.158, 1.032, 0.031) [env.py: 1079] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg [env.py: 1082] +05/12 16:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m [env.py: 1086] +05/12 16:41:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:41:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:42:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:42:00 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 16:42:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:42:00 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 16:42:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/12 16:42:00 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 16:42:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:42:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 16:42:00 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 16:42:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:42:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:42:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:42:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.817s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:42:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.356[m] 83.609[deg] [grasp_sample.py: 539] +05/12 16:42:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:42:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:42:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:42:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.735s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:42:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.476[m] 85.336[deg] [grasp_sample.py: 539] +05/12 16:42:04 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:42:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:42:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:42:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:42:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:42:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:42:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:42:05 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 16:42:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:42:05 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 16:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055199m [env.py: 870] +05/12 16:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:42:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07626174 1.19633998 0.05519874] yaw=-91.1deg [env.py: 1019] +05/12 16:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69564159 0.64004338 0.05519874] yaw=-199.6deg [env.py: 1019] +05/12 16:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87026477 0.7620085 0.05519874] yaw=-146.5deg [env.py: 1019] +05/12 16:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:42:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.5ms, total=96.5ms [env.py: 1075] +05/12 16:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.076, 1.196, 0.055) [env.py: 1079] +05/12 16:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -91.1 deg [env.py: 1082] +05/12 16:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/12 16:42:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:42:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:42:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:42:06 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 16:42:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 16:42:06 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 16:42:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:42:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:42:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.330s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:42:11 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.638[m] 101.296[deg] [grasp_sample.py: 539] +05/12 16:42:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:42:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:42:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:42:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:42:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:42:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:42:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.42s (batch: 4.86s, save: 10.56s) [pipeline.py: 300] +05/12 16:42:15 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.52s: + episode_total: mean=177.03s, total=177.03s, count=1, min=177033.4ms, max=177033.4ms + sensor_polling: mean=408.5ms, total=122.54s, count=300, min=375.0ms, max=866.7ms + save_trajectories: mean=10.56s, total=10.56s, count=1, min=10559.5ms, max=10559.5ms + physics_step: mean=24.0ms, total=7.19s, count=300, min=16.7ms, max=31.9ms + save_batch_prep: mean=4.86s, total=4.86s, count=1, min=4857.4ms, max=4857.4ms + task_sampling: mean=519.7ms, total=519.7ms, count=1, min=519.7ms, max=519.7ms + task_specific_sample: mean=515.9ms, total=515.9ms, count=1, min=515.9ms, max=515.9ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=446.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 16:42:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:42:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:42:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:42:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:42:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:42:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:42:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:42:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:42:16 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 16:42:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:42:16 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 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008075m [env.py: 870] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:42:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07750951 1.11508078 0.00807481] yaw=-96.6deg [env.py: 1019] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81701953 0.7642693 0.00807481] yaw=-167.8deg [env.py: 1019] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90673935 0.29607806 0.00807481] yaw=182.2deg [env.py: 1019] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:42:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.4ms, total=143.5ms [env.py: 1075] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.078, 1.115, 0.008) [env.py: 1079] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -96.6 deg [env.py: 1082] +05/12 16:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/12 16:42:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:42:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:42:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:42:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:42:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:42:16 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 16:42:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 16:42:17 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 16:42:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:42:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:42:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.201s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:42:22 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.565[m] 106.359[deg] [grasp_sample.py: 539] +05/12 16:42:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:42:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:42:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:42:23 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 16:42:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:42:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:42:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:42:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:42:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:42:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:43:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:43:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:43:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:43:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:43:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:43:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:43:49 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:43:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:43:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:43:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:43:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:43:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:44:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:44:06 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 16:44:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:44:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 16:44:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:08 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.475s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:44:08 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.793[deg] [grasp_sample.py: 539] +05/12 16:44:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:10 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:44:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:44:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:44:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:44:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:44:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:44:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:44:11 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 16:44:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:44:11 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 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058146m [env.py: 870] +05/12 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:44:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93889924 0.12225181 0.0581462 ] yaw=133.5deg [env.py: 1019] +05/12 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84706874 0.72422645 0.0581462 ] yaw=-193.5deg [env.py: 1019] +05/12 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.66071385 0.28708582 0.0581462 ] yaw=188.6deg [env.py: 1019] +05/12 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:44:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.4ms, total=189.5ms [env.py: 1075] +05/12 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.122, 0.058) [env.py: 1079] +05/12 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 133.5 deg [env.py: 1082] +05/12 16:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m [env.py: 1086] +05/12 16:44:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:44:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:44:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:44:11 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 16:44:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 16:44:11 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 16:44:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:44:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:44:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:44:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:44:12 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 16:44:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:44:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 16:44:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.021s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:44:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.434[m] 91.359[deg] [grasp_sample.py: 539] +05/12 16:44:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:44:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:44:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:44:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:44:15 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.702s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:44:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.107[m] 0.668[deg] [grasp_sample.py: 539] +05/12 16:44:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:44:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:44:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:44:16 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:44:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 16:44:16 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:44:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:44:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:29 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:44:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:44:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:44:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 14.81s (batch: 3.81s, save: 11.00s) [pipeline.py: 300] +05/12 16:44:31 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.42s: + episode_total: mean=176.24s, total=176.24s, count=1, min=176239.8ms, max=176239.8ms + sensor_polling: mean=407.9ms, total=122.38s, count=300, min=369.0ms, max=895.7ms + save_trajectories: mean=11.00s, total=11.00s, count=1, min=11000.7ms, max=11000.7ms + physics_step: mean=24.2ms, total=7.25s, count=300, min=16.7ms, max=34.0ms + save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3811.7ms, max=3811.7ms + task_sampling: mean=421.4ms, total=421.4ms, count=1, min=421.4ms, max=421.4ms + task_specific_sample: mean=417.6ms, total=417.6ms, count=1, min=417.6ms, max=417.6ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=451.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.4us, 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 16:44:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:44:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:44:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:44:32 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 16:44:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:44:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 84 non-colliding grasps [grasp_sample.py: 465] +05/12 16:44:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:44:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:44:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:44:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:44:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:44:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:44:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:44:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:44:33 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 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024347m [env.py: 870] +05/12 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:44:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95185744 0.13507575 0.0243473 ] yaw=171.0deg [env.py: 1019] +05/12 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68180192 0.23912575 0.0243473 ] yaw=176.8deg [env.py: 1019] +05/12 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74801135 0.50653643 0.0243473 ] yaw=-199.9deg [env.py: 1019] +05/12 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:44:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=151.4ms, total=151.5ms [env.py: 1075] +05/12 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.952, 0.135, 0.024) [env.py: 1079] +05/12 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.0 deg [env.py: 1082] +05/12 16:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/12 16:44:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:44:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:44:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:44:33 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 16:44:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/12 16:44:33 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 16:44:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:44:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:44:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.995s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:44:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.427[m] 93.784[deg] [grasp_sample.py: 539] +05/12 16:44:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:44:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:44:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:44:35 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.692s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:44:35 INFO: [Worker 0] Feasible grasp found 117 (originally 2): w/ 0.024[m] 0.788[deg] [grasp_sample.py: 539] +05/12 16:44:35 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 16:44:36 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:44:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:44:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:44:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:44:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:44:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:44:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:44:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:44:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:44:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034275m [env.py: 870] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:44:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80102632 0.47367375 0.03427466] yaw=203.8deg [env.py: 1019] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84663543 0.30179923 0.03427466] yaw=187.6deg [env.py: 1019] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.154457 1.11262311 0.03427466] yaw=-162.7deg [env.py: 1019] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:44:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.8ms, total=189.8ms [env.py: 1075] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.801, 0.474, 0.034) [env.py: 1079] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 203.8 deg [env.py: 1082] +05/12 16:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 16:44:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:44:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:44:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:44:38 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 16:44:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 16:44:38 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 16:44:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:44:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:44:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.984s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:44:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.487[m] 80.106[deg] [grasp_sample.py: 539] +05/12 16:44:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:44:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:44:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:44:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:44:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:44:57 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:44:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 16:44:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:44:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:45:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:45:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:45:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:45:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:45:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 14.89s (batch: 4.39s, save: 10.50s) [pipeline.py: 300] +05/12 16:45:12 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.41s: + episode_total: mean=103.72s, total=311.15s, count=3, min=4705.8ms, max=187129.9ms + sensor_polling: mean=393.8ms, total=205.97s, count=523, min=359.9ms, max=723.4ms + physics_step: mean=23.9ms, total=12.49s, count=523, min=16.9ms, max=72.8ms + save_trajectories: mean=10.50s, total=10.50s, count=1, min=10496.6ms, max=10496.6ms + save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4391.8ms, max=4391.8ms + task_sampling: mean=471.1ms, total=1.41s, count=3, min=387.6ms, max=525.6ms + task_specific_sample: mean=467.1ms, total=1.40s, count=3, min=383.9ms, max=521.6ms + scene_randomize: mean=1.9ms, total=5.7ms, count=3, min=1.1ms, max=2.6ms + mj_forward_sync: mean=463.6us, total=1.4ms, count=3, min=0.5ms, max=0.5ms + policy_setup: mean=20.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:45:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:45:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:45:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:45:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:45:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:45:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:45:14 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 16:45:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:45:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020523m [env.py: 870] +05/12 16:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:45:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14160743 1.11092349 0.02052279] yaw=-124.2deg [env.py: 1019] +05/12 16:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93614445 0.37115639 0.02052279] yaw=191.1deg [env.py: 1019] +05/12 16:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07340324 1.13041808 0.02052279] yaw=-149.1deg [env.py: 1019] +05/12 16:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:45:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.1ms, total=203.1ms [env.py: 1075] +05/12 16:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.142, 1.111, 0.021) [env.py: 1079] +05/12 16:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.2 deg [env.py: 1082] +05/12 16:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/12 16:45:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:45:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:45:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:45:14 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 16:45:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 16:45:14 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 16:45:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:45:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:45:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.384s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:45:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.469[m] 100.688[deg] [grasp_sample.py: 539] +05/12 16:45:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:45:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:45:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:45:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:45:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:45:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:45:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:45:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:45:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:45:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:46:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:46:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:46:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:46:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:46:03 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 16:46:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:46:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 16:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:46:04 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.633s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:46:04 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.490[deg] [grasp_sample.py: 539] +05/12 16:46:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:46:05 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:46:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:46:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:46:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:46:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:46:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:46:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:46:06 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 16:46:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:46:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006992m [env.py: 870] +05/12 16:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:46:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74632186 0.94556058 0.00699186] yaw=-168.2deg [env.py: 1019] +05/12 16:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79442356 0.59435674 0.00699186] yaw=-163.2deg [env.py: 1019] +05/12 16:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82425811 0.53689395 0.00699186] yaw=-192.7deg [env.py: 1019] +05/12 16:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:46:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.9ms, total=114.0ms [env.py: 1075] +05/12 16:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.746, 0.946, 0.007) [env.py: 1079] +05/12 16:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.2 deg [env.py: 1082] +05/12 16:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/12 16:46:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:46:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:46:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:46:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:46:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:46:07 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 16:46:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 16:46:07 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 16:46:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:46:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:46:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:46:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.613s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:46:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.649[m] 94.416[deg] [grasp_sample.py: 539] +05/12 16:46:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:46:11 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:46:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:46:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:46:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:46:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:46:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:46:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:46:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:46:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:46:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:46:12 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 16:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026401m [env.py: 870] +05/12 16:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:46:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99786065 1.13063837 0.02640137] yaw=-139.5deg [env.py: 1019] +05/12 16:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.21829993 1.06395405 0.02640137] yaw=-90.4deg [env.py: 1019] +05/12 16:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.16084193 1.05968131 0.02640137] yaw=-112.8deg [env.py: 1019] +05/12 16:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:46:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.0ms, total=84.0ms [env.py: 1075] +05/12 16:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.998, 1.131, 0.026) [env.py: 1079] +05/12 16:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.5 deg [env.py: 1082] +05/12 16:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086] +05/12 16:46:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:46:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:46:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:46:13 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 16:46:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 16:46:13 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 16:46:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:46:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:46:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:46:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:46:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:46:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:46:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:46:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 16:46:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.703s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:46:15 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.509[deg] [grasp_sample.py: 539] +05/12 16:46:16 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:46:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.903s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:46:17 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.515[m] 85.518[deg] [grasp_sample.py: 539] +05/12 16:46:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:46:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:46:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:46:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:46:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:46:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:46:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:46:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:46:18 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 16:46:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:46:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000431m [env.py: 870] +05/12 16:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:46:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-6.25553241e-01 4.37886358e-01 4.30771163e-04] yaw=177.4deg [env.py: 1019] +05/12 16:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-7.27535911e-01 5.84752124e-02 4.30771163e-04] yaw=189.5deg [env.py: 1019] +05/12 16:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:46:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=358.8ms, total=358.8ms [env.py: 1075] +05/12 16:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.626, 0.438, 0.000) [env.py: 1079] +05/12 16:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.4 deg [env.py: 1082] +05/12 16:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/12 16:46:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:46:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:46:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:46:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:46:18 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:46:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:46:18 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 16:46:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/12 16:46:18 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 16:46:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:46:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:46:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:46:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:46:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:46:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:46:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:46:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:46:20 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 16:46:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:46:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044870m [env.py: 870] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:46:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:46:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.278s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:46:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.673[m] 98.709[deg] [grasp_sample.py: 539] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 130.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:46:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82392952 0.07754407 0.04487018] yaw=156.3deg [env.py: 1019] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72854432 0.22574214 0.04487018] yaw=153.1deg [env.py: 1019] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96871243 0.97387581 0.04487018] yaw=-173.4deg [env.py: 1019] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:46:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=298.9ms, total=299.0ms [env.py: 1075] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.824, 0.078, 0.045) [env.py: 1079] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.3 deg [env.py: 1082] +05/12 16:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m [env.py: 1086] +05/12 16:46:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:46:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:46:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:46:20 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 16:46:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 16:46:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:46:20 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 16:46:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:46:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:46:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:46:21 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 16:46:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.981s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:46:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.493[m] 79.012[deg] [grasp_sample.py: 539] +05/12 16:46:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:46:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:46:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:46:22 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 16:46:47 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:47:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:47:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:47:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:47:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:47:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:47:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:47:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:47:16 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:47:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 16:47:16 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:47:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:47:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:47:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:47:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:47:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:47:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:47:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:47:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 16:47:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:47:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:47:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:47:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 14.79s (batch: 4.14s, save: 10.64s) [pipeline.py: 300] +05/12 16:47:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:47:31 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.92s: + episode_total: mean=156.96s, total=313.93s, count=2, min=140369.0ms, max=173558.0ms + sensor_polling: mean=388.5ms, total=227.68s, count=586, min=362.3ms, max=797.5ms + physics_step: mean=24.1ms, total=14.11s, count=586, min=16.9ms, max=39.0ms + save_trajectories: mean=10.64s, total=10.64s, count=1, min=10642.6ms, max=10642.6ms + save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4144.5ms, max=4144.5ms + task_sampling: mean=461.3ms, total=922.5ms, count=2, min=456.6ms, max=466.0ms + task_specific_sample: mean=457.6ms, total=915.1ms, count=2, min=452.8ms, max=462.3ms + scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.8ms, max=2.5ms + mj_forward_sync: mean=451.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=19.7us, 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 16:47:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:47:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:47:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:47:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:47:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:47:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:47:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:47:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:47:33 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 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057469m [env.py: 870] +05/12 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:47:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81363015 0.19491239 0.05746934] yaw=201.7deg [env.py: 1019] +05/12 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80708357 0.75904818 0.05746934] yaw=-173.8deg [env.py: 1019] +05/12 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82290101 0.71688904 0.05746934] yaw=-189.2deg [env.py: 1019] +05/12 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:47:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.8ms, total=148.8ms [env.py: 1075] +05/12 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.814, 0.195, 0.057) [env.py: 1079] +05/12 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 201.7 deg [env.py: 1082] +05/12 16:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/12 16:47:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:47:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:47:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:47:33 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 16:47:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 16:47:33 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 16:47:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:47:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:47:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.089s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:47:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.621[m] 76.632[deg] [grasp_sample.py: 539] +05/12 16:47:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:47:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:47:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:47:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:47:35 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 16:47:42 INFO: [Worker 0] Feasibility-checked 78 grasps in 24.427s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:47:42 INFO: [Worker 0] Feasible grasp found 121 (originally 6): w/ 0.238[m] 28.802[deg] [grasp_sample.py: 539] +05/12 16:47:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:47:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:47:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:47:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:47:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:47:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:47:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:47:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:47:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:47:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:47:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:47:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:47:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:47:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:47:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:47:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 16:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:22 INFO: [Worker 0] Feasibility-checked 78 grasps in 25.685s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:48:22 INFO: [Worker 0] Feasible grasp found 121 (originally 6): w/ 0.241[m] 31.504[deg] [grasp_sample.py: 539] +05/12 16:48:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:48:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:48:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:48:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:32 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:48:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:48:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:48:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:48:33 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 16:48:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:48:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 16:48:34 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.568s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:48:34 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.455[deg] [grasp_sample.py: 539] +05/12 16:48:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:48:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:48:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:48:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:48:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:48:36 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 16:48:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:48:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 16:48:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:48:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:48:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:48:58 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:48:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 16:48:58 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:48:58 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:49:03 INFO: [Worker 0] Feasibility-checked 78 grasps in 26.409s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:49:03 INFO: [Worker 0] Feasible grasp found 121 (originally 6): w/ 0.241[m] 31.100[deg] [grasp_sample.py: 539] +05/12 16:49:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:49:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:49:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:49:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:49:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:49:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 14.81s (batch: 4.10s, save: 10.72s) [pipeline.py: 300] +05/12 16:49:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:14 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.12s: + episode_total: mean=139.67s, total=279.34s, count=2, min=103339.4ms, max=176000.7ms + sensor_polling: mean=405.7ms, total=204.06s, count=503, min=374.7ms, max=938.4ms + physics_step: mean=24.6ms, total=12.40s, count=503, min=16.6ms, max=55.4ms + save_trajectories: mean=10.72s, total=10.72s, count=1, min=10715.0ms, max=10715.0ms + save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4097.4ms, max=4097.4ms + task_sampling: mean=559.3ms, total=1.12s, count=2, min=457.8ms, max=660.7ms + task_specific_sample: mean=555.2ms, total=1.11s, count=2, min=453.5ms, max=656.9ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.9ms, max=2.8ms + mj_forward_sync: mean=491.4us, total=1.0ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=13.6us, 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 16:49:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:49:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:49:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:49:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:49:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:49:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:49:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:49:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:49:15 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 16:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009128m [env.py: 870] +05/12 16:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:49:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93372772 0.61682659 0.00912751] yaw=-151.5deg [env.py: 1019] +05/12 16:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.688707 0.40280228 0.00912751] yaw=144.0deg [env.py: 1019] +05/12 16:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:49:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:49:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=216.0ms, total=216.1ms [env.py: 1075] +05/12 16:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 0.617, 0.009) [env.py: 1079] +05/12 16:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.5 deg [env.py: 1082] +05/12 16:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m [env.py: 1086] +05/12 16:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:49:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:49:16 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 16:49:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 16:49:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:49:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:49:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:49:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.824s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:49:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.348[m] 78.088[deg] [grasp_sample.py: 539] +05/12 16:49:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:49:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:49:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 16:49:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:49:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:49:18 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 16:49:18 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=False episode_total=0.54s: + episode_total: mean=243.89s, total=243.89s, count=1, min=243893.0ms, max=243893.0ms + sensor_polling: mean=389.8ms, total=116.17s, count=298, min=363.0ms, max=694.8ms + physics_step: mean=24.2ms, total=7.21s, count=298, min=17.0ms, max=32.0ms + task_sampling: mean=539.2ms, total=539.2ms, count=1, min=539.2ms, max=539.2ms + task_specific_sample: mean=535.2ms, total=535.2ms, count=1, min=535.2ms, max=535.2ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=464.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.2us, 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 16:49:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:49:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:49:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:49:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:49:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:49:20 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 16:49:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:49:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063391m [env.py: 870] +05/12 16:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:49:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83625185 0.33729878 0.06339098] yaw=144.5deg [env.py: 1019] +05/12 16:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96320573 1.23584437 0.06339098] yaw=-141.4deg [env.py: 1019] +05/12 16:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.71295177 0.29727099 0.06339098] yaw=155.7deg [env.py: 1019] +05/12 16:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:49:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=156.5ms, total=156.5ms [env.py: 1075] +05/12 16:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.337, 0.063) [env.py: 1079] +05/12 16:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.5 deg [env.py: 1082] +05/12 16:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/12 16:49:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:49:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:49:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:49:21 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 16:49:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 16:49:21 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 16:49:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:49:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:49:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.081s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:49:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.481[m] 90.487[deg] [grasp_sample.py: 539] +05/12 16:49:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:49:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:49:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:49:23 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 16:49:27 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:49:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 16:49:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:49:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:49:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:49:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.20s (batch: 4.13s, save: 11.06s) [pipeline.py: 300] +05/12 16:49:43 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=3.62s: + episode_total: mean=102.41s, total=716.84s, count=7, min=4369.1ms, max=202818.9ms + sensor_polling: mean=419.2ms, total=521.94s, count=1245, min=387.1ms, max=923.7ms + physics_step: mean=24.1ms, total=30.05s, count=1245, min=15.2ms, max=61.5ms + save_trajectories: mean=11.06s, total=11.06s, count=1, min=11064.4ms, max=11064.4ms + save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4133.9ms, max=4133.9ms + task_sampling: mean=516.5ms, total=3.62s, count=7, min=320.5ms, max=775.1ms + task_specific_sample: mean=512.8ms, total=3.59s, count=7, min=317.3ms, max=772.0ms + scene_randomize: mean=1.6ms, total=10.9ms, count=7, min=1.2ms, max=2.6ms + mj_forward_sync: mean=481.8us, total=3.4ms, count=7, min=0.4ms, max=0.7ms + policy_setup: mean=17.0us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:49:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:49:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:49:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:49:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:49:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:49:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:49:44 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 16:49:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:49:44 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 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024332m [env.py: 870] +05/12 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:49:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71433786 0.03039484 0.02433217] yaw=193.7deg [env.py: 1019] +05/12 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.14165458 1.10324869 0.02433217] yaw=-102.7deg [env.py: 1019] +05/12 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99729086 0.76334847 0.02433217] yaw=-129.3deg [env.py: 1019] +05/12 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:49:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.1ms, total=175.1ms [env.py: 1075] +05/12 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.030, 0.024) [env.py: 1079] +05/12 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 193.7 deg [env.py: 1082] +05/12 16:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/12 16:49:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:49:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:49:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:49:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:49:44 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 16:49:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:49:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 16:49:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:49:44 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 16:49:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 16:49:45 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 16:49:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:49:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:49:45 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.745s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:49:45 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.410[deg] [grasp_sample.py: 539] +05/12 16:49:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:49:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:49:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:49:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:49:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.378s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:49:50 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.780[m] 82.500[deg] [grasp_sample.py: 539] +05/12 16:49:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:49:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:49:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:49:51 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 16:49:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:49:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:49:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:49:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:50:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:50:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:50:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:50:00 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 16:50:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:50:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/12 16:50:01 INFO: [Worker 0] Feasibility-checked 74 grasps in 0.717s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:50:01 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.086[m] 0.401[deg] [grasp_sample.py: 539] +05/12 16:50:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:50:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:50:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:50:03 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:50:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:50:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:50:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:50:31 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:50:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 16:50:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:50:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:50:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:50:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 14.63s (batch: 4.16s, save: 10.48s) [pipeline.py: 300] +05/12 16:50:47 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.45s: + episode_total: mean=194.04s, total=194.04s, count=1, min=194035.7ms, max=194035.7ms + sensor_polling: mean=393.9ms, total=118.17s, count=300, min=367.1ms, max=799.9ms + save_trajectories: mean=10.48s, total=10.48s, count=1, min=10477.1ms, max=10477.1ms + physics_step: mean=23.2ms, total=6.95s, count=300, min=15.2ms, max=35.6ms + save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4157.6ms, max=4157.6ms + task_sampling: mean=446.9ms, total=446.9ms, count=1, min=446.9ms, max=446.9ms + task_specific_sample: mean=443.2ms, total=443.2ms, count=1, min=443.2ms, max=443.2ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=456.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:50:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:50:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:50:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:50:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:50:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:50:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:50:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:50:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:50:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067660m [env.py: 870] +05/12 16:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:50:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73548731 0.52089453 0.06765982] yaw=-167.1deg [env.py: 1019] +05/12 16:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07116745 1.03184386 0.06765982] yaw=-176.8deg [env.py: 1019] +05/12 16:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84572494 0.7986631 0.06765982] yaw=-163.9deg [env.py: 1019] +05/12 16:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:50:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.2ms, total=153.2ms [env.py: 1075] +05/12 16:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.735, 0.521, 0.068) [env.py: 1079] +05/12 16:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.1 deg [env.py: 1082] +05/12 16:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/12 16:50:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:50:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:50:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:50:49 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 16:50:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/12 16:50:49 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 16:50:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:50:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:50:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.066s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:50:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.577[m] 96.957[deg] [grasp_sample.py: 539] +05/12 16:50:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:50:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:50:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:50:51 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 16:51:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:51:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:51:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:51:19 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 16:51:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:51:19 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 16:51:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:51:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 16:51:22 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.464s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:51:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.843[deg] [grasp_sample.py: 539] +05/12 16:51:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:51:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:51:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:51:25 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:51:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:51:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:51:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:51:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:51:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:51:49 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:51:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 16:51:49 INFO: [Worker 0] Preparing episode data: 291 timesteps [save_utils.py: 278] +05/12 16:51:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:51:52 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:52:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:52:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:52:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.23s (batch: 3.88s, save: 11.35s) [pipeline.py: 300] +05/12 16:52:05 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.52s: + episode_total: mean=169.90s, total=169.90s, count=1, min=169895.9ms, max=169895.9ms + sensor_polling: mean=399.8ms, total=115.95s, count=290, min=368.2ms, max=942.1ms + save_trajectories: mean=11.35s, total=11.35s, count=1, min=11350.7ms, max=11350.7ms + physics_step: mean=24.2ms, total=7.02s, count=290, min=17.0ms, max=31.8ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3875.6ms, max=3875.6ms + task_sampling: mean=524.9ms, total=524.9ms, count=1, min=524.9ms, max=524.9ms + task_specific_sample: mean=519.6ms, total=519.6ms, count=1, min=519.6ms, max=519.6ms + scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + mj_forward_sync: mean=732.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + 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 16:52:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:52:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:52:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:52:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:52:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:52:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:52:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:52:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:52:07 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 16:52:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:52:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029481m [env.py: 870] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:52:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8814032 0.80381898 0.02948076] yaw=-192.9deg [env.py: 1019] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.16879468 1.01074483 0.02948076] yaw=-121.3deg [env.py: 1019] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82342091 0.45010548 0.02948076] yaw=168.0deg [env.py: 1019] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:52:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.1ms, total=147.1ms [env.py: 1075] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.804, 0.029) [env.py: 1079] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -192.9 deg [env.py: 1082] +05/12 16:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/12 16:52:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:52:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:52:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:52:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:52:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:52:07 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 16:52:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 16:52:07 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 16:52:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:52:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:52:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.932s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:52:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.590[m] 95.956[deg] [grasp_sample.py: 539] +05/12 16:52:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:52:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:52:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:52:09 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 16:52:12 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 16:52:12 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.50s: + episode_total: mean=148.04s, total=148.04s, count=1, min=148040.4ms, max=148040.4ms + sensor_polling: mean=430.5ms, total=129.16s, count=300, min=393.9ms, max=862.1ms + physics_step: mean=24.6ms, total=7.39s, count=300, min=21.6ms, max=57.9ms + task_sampling: mean=495.5ms, total=495.5ms, count=1, min=495.5ms, max=495.5ms + task_specific_sample: mean=491.5ms, total=491.5ms, count=1, min=491.5ms, max=491.5ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=468.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:52:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:52:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:52:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:52:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:52:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:52:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:52:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:52:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:52:13 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 16:52:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:52:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:52:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:52:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:52:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038730m [env.py: 870] +05/12 16:52:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:52:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:52:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99826616 0.76555619 0.03872996] yaw=-149.1deg [env.py: 1019] +05/12 16:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15680819 1.16425116 0.03872996] yaw=-119.5deg [env.py: 1019] +05/12 16:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.69962511 0.23528248 0.03872996] yaw=149.5deg [env.py: 1019] +05/12 16:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:52:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=378.7ms, total=378.7ms [env.py: 1075] +05/12 16:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.998, 0.766, 0.039) [env.py: 1079] +05/12 16:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.1 deg [env.py: 1082] +05/12 16:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.759m [env.py: 1086] +05/12 16:52:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:52:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:52:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:52:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:52:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:52:14 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 16:52:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 16:52:14 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 16:52:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:52:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:52:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.830s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:52:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.334[m] 83.366[deg] [grasp_sample.py: 539] +05/12 16:52:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:52:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:52:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:52:24 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:52:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 16:52:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:52:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:52:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:52:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 16.56s (batch: 5.57s, save: 10.99s) [pipeline.py: 300] +05/12 16:52:41 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.44s: + episode_total: mean=200.92s, total=200.92s, count=1, min=200922.8ms, max=200922.8ms + sensor_polling: mean=415.7ms, total=124.71s, count=300, min=380.5ms, max=957.6ms + save_trajectories: mean=10.99s, total=10.99s, count=1, min=10990.0ms, max=10990.0ms + physics_step: mean=25.8ms, total=7.75s, count=300, min=21.9ms, max=34.0ms + save_batch_prep: mean=5.57s, total=5.57s, count=1, min=5572.6ms, max=5572.6ms + task_sampling: mean=444.4ms, total=444.4ms, count=1, min=444.4ms, max=444.4ms + task_specific_sample: mean=439.2ms, total=439.2ms, count=1, min=439.2ms, max=439.2ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=721.4us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=16.0us, 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 16:52:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:52:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:52:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:52:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:52:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:52:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:52:43 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 16:52:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:52:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082434m [env.py: 870] +05/12 16:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:52:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:52:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75776375 0.00734727 0.08243358] yaw=130.6deg [env.py: 1019] +05/12 16:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:52:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=234.8ms, total=234.8ms [env.py: 1075] +05/12 16:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.758, 0.007, 0.082) [env.py: 1079] +05/12 16:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 130.6 deg [env.py: 1082] +05/12 16:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/12 16:52:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:52:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:52:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:52:44 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 16:52:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.204s [base_object_manipulation_planner_policy.py: 377] +05/12 16:52:44 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 16:52:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:52:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:52:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:52:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.188s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:52:52 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.607[m] 88.050[deg] [grasp_sample.py: 539] +05/12 16:52:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:52:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:52:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:52:53 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 16:52:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:52:57 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:52:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:53:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:53:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:53:23 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:53:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 16:53:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:53:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:53:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:53:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 14.58s (batch: 4.11s, save: 10.47s) [pipeline.py: 300] +05/12 16:53:38 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.48s: + episode_total: mean=170.25s, total=170.25s, count=1, min=170247.4ms, max=170247.4ms + sensor_polling: mean=389.4ms, total=116.81s, count=300, min=363.0ms, max=894.7ms + save_trajectories: mean=10.47s, total=10.47s, count=1, min=10470.1ms, max=10470.1ms + physics_step: mean=23.7ms, total=7.10s, count=300, min=16.7ms, max=33.8ms + save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4114.7ms, max=4114.7ms + task_sampling: mean=475.1ms, total=475.1ms, count=1, min=475.1ms, max=475.1ms + task_specific_sample: mean=471.2ms, total=471.2ms, count=1, min=471.2ms, max=471.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=448.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:53:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:53:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:53:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:53:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:53:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:53:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:53:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:53:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:53:40 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 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019421m [env.py: 870] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:53:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94416984 0.566754 0.01942062] yaw=-152.4deg [env.py: 1019] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93932116 0.08801183 0.01942062] yaw=176.5deg [env.py: 1019] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.78583699 0.76769082 0.01942062] yaw=-196.8deg [env.py: 1019] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:53:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=221.5ms, total=221.5ms [env.py: 1075] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.567, 0.019) [env.py: 1079] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.4 deg [env.py: 1082] +05/12 16:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m [env.py: 1086] +05/12 16:53:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:53:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:53:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:53:40 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 16:53:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 16:53:40 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 16:53:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:53:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:53:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.807s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:53:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.365[m] 78.939[deg] [grasp_sample.py: 539] +05/12 16:53:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:53:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:53:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:53:42 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 16:53:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:53:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:54:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:54:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:54:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:54:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:54:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:54:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:54:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:54:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:54:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:54:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:54:15 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 16:54:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:54:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 16:54:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:54:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:54:23 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:54:25 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:54:49 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:54:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 16:54:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:54:53 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:54:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 16:54:53 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/12 16:55:04 INFO: [Worker 0] Feasibility-checked 78 grasps in 49.342s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:55:04 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 16:55:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:55:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:55:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.45s (batch: 4.19s, save: 11.26s) [pipeline.py: 300] +05/12 16:55:05 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.46s: + episode_total: mean=178.73s, total=178.73s, count=1, min=178733.7ms, max=178733.7ms + sensor_polling: mean=414.1ms, total=124.22s, count=300, min=368.8ms, max=1007.4ms + save_trajectories: mean=11.26s, total=11.26s, count=1, min=11256.7ms, max=11256.7ms + physics_step: mean=26.3ms, total=7.89s, count=300, min=17.8ms, max=37.0ms + save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4191.7ms, max=4191.7ms + task_sampling: mean=460.1ms, total=460.1ms, count=1, min=460.1ms, max=460.1ms + task_specific_sample: mean=455.8ms, total=455.8ms, count=1, min=455.8ms, max=455.8ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=482.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=12.9us, 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 16:55:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:55:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:55:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:55:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:55:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:55:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:55:06 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 16:55:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:55:06 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 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031978m [env.py: 870] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:55:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94018549 0.77901021 0.03197831] yaw=-142.4deg [env.py: 1019] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.99526704 1.30381937 0.03197831] yaw=-146.2deg [env.py: 1019] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.07398271 1.19303794 0.03197831] yaw=-126.0deg [env.py: 1019] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:55:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.7ms, total=223.7ms [env.py: 1075] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.779, 0.032) [env.py: 1079] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.4 deg [env.py: 1082] +05/12 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/12 16:55:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:55:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:55:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:55:07 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 16:55:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:55:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:55:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:55:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:55:07 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 16:55:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:55:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040810m [env.py: 870] +05/12 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:55:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93399707 0.47373447 0.04081024] yaw=169.9deg [env.py: 1019] +05/12 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:55:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.166s [base_object_manipulation_planner_policy.py: 377] +05/12 16:55:07 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 16:55:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8932463 0.6902681 0.04081024] yaw=-153.0deg [env.py: 1019] +05/12 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:55:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=220.0ms, total=220.0ms [env.py: 1075] +05/12 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 0.474, 0.041) [env.py: 1079] +05/12 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.9 deg [env.py: 1082] +05/12 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.768m [env.py: 1086] +05/12 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:55:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.131s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:55:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:55:07 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 16:55:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 16:55:07 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 16:55:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:55:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:55:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:55:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:55:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 14.98s (batch: 3.94s, save: 11.04s) [pipeline.py: 300] +05/12 16:55:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.083s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:55:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.433[m] 96.143[deg] [grasp_sample.py: 539] +05/12 16:55:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:55:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.846s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:55:08 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.361[m] 93.979[deg] [grasp_sample.py: 539] +05/12 16:55:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:55:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:55:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:55:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:55:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:55:09 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.64s: + episode_total: mean=175.32s, total=175.32s, count=1, min=175324.2ms, max=175324.2ms + sensor_polling: mean=417.5ms, total=120.24s, count=288, min=391.3ms, max=965.0ms + save_trajectories: mean=11.04s, total=11.04s, count=1, min=11040.0ms, max=11040.0ms + physics_step: mean=24.4ms, total=7.03s, count=288, min=17.7ms, max=64.8ms + save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3942.9ms, max=3942.9ms + task_sampling: mean=638.2ms, total=638.2ms, count=1, min=638.2ms, max=638.2ms + task_specific_sample: mean=634.5ms, total=634.5ms, count=1, min=634.5ms, max=634.5ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=456.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=13.9us, 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 16:55:09 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 16:55:09 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 16:55:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:55:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:55:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:55:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:55:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:55:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:55:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:55:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:55:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:55:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:55:10 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 16:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042843m [env.py: 870] +05/12 16:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:55:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78812712 0.42406089 0.04284287] yaw=157.1deg [env.py: 1019] +05/12 16:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89413266 0.31888413 0.04284287] yaw=183.6deg [env.py: 1019] +05/12 16:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75337373 0.20587593 0.04284287] yaw=142.5deg [env.py: 1019] +05/12 16:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:55:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=643.4ms, total=643.4ms [env.py: 1075] +05/12 16:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.788, 0.424, 0.043) [env.py: 1079] +05/12 16:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.1 deg [env.py: 1082] +05/12 16:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/12 16:55:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:55:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:55:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:55:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:55:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:55:11 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 16:55:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 16:55:11 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 16:55:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:55:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:55:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.876s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:55:12 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.490[m] 88.395[deg] [grasp_sample.py: 539] +05/12 16:55:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:55:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:55:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:55:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:55:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:55:46 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:55:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:55:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:55:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:55:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:55:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:56:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:56:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:56:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:56:13 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:56:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 16:56:13 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/12 16:56:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:56:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:56:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.47s (batch: 4.21s, save: 11.26s) [pipeline.py: 300] +05/12 16:56:29 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.52s: + episode_total: mean=169.03s, total=169.03s, count=1, min=169028.5ms, max=169028.5ms + sensor_polling: mean=390.4ms, total=114.39s, count=293, min=359.9ms, max=928.7ms + save_trajectories: mean=11.26s, total=11.26s, count=1, min=11256.0ms, max=11256.0ms + physics_step: mean=24.4ms, total=7.15s, count=293, min=16.8ms, max=34.0ms + save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4212.5ms, max=4212.5ms + task_sampling: mean=524.1ms, total=524.1ms, count=1, min=524.1ms, max=524.1ms + task_specific_sample: mean=520.2ms, total=520.2ms, count=1, min=520.2ms, max=520.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=449.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:56:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:56:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:56:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:56:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:56:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:56:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:56:30 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 16:56:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:56:30 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 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077038m [env.py: 870] +05/12 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:56:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03383225 1.0521039 0.07703826] yaw=-134.1deg [env.py: 1019] +05/12 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01844035 1.05038683 0.07703826] yaw=-174.7deg [env.py: 1019] +05/12 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.73170274 0.74266099 0.07703826] yaw=-142.2deg [env.py: 1019] +05/12 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:56:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=187.2ms, total=187.2ms [env.py: 1075] +05/12 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.034, 1.052, 0.077) [env.py: 1079] +05/12 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.1 deg [env.py: 1082] +05/12 16:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 16:56:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:56:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:56:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:56:31 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 16:56:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 16:56:31 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 16:56:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:56:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:56:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.155s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:56:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.430[m] 85.469[deg] [grasp_sample.py: 539] +05/12 16:56:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:56:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:56:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:57:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:57:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:57:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:57:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:57:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:57:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:57:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:57:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:57:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:57:21 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:57:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:57:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:57:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:57:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:57:23 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 16:57:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:57:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 16:57:24 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.945s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:57:24 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.290[deg] [grasp_sample.py: 539] +05/12 16:57:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:57:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:57:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:57:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:57:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:57:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:57:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:57:44 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:57:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:57:52 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:57:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 16:57:52 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:57:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:57:57 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:58:09 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:58:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 16:58:09 INFO: [Worker 0] Preparing episode data: 295 timesteps [save_utils.py: 278] +05/12 16:58:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:58:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:58:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 18.01s (batch: 6.28s, save: 11.73s) [pipeline.py: 300] +05/12 16:58:11 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.10s: + episode_total: mean=162.66s, total=325.32s, count=2, min=140825.4ms, max=184494.4ms + sensor_polling: mean=423.5ms, total=189.31s, count=447, min=378.4ms, max=1044.1ms + save_trajectories: mean=11.73s, total=11.73s, count=1, min=11729.9ms, max=11729.9ms + physics_step: mean=24.8ms, total=11.07s, count=447, min=18.2ms, max=38.1ms + save_batch_prep: mean=6.28s, total=6.28s, count=1, min=6283.0ms, max=6283.0ms + task_sampling: mean=548.9ms, total=1.10s, count=2, min=522.9ms, max=574.9ms + task_specific_sample: mean=544.0ms, total=1.09s, count=2, min=517.8ms, max=570.1ms + scene_randomize: mean=2.9ms, total=5.7ms, count=2, min=2.3ms, max=3.4ms + mj_forward_sync: mean=477.9us, total=1.0ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:58:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:58:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:58:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:58:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:58:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:58:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:58:13 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 16:58:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:58:13 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 16:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042840m [env.py: 870] +05/12 16:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:58:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84135454 0.26334951 0.04283987] yaw=170.4deg [env.py: 1019] +05/12 16:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86062195 0.08625995 0.04283987] yaw=165.3deg [env.py: 1019] +05/12 16:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:58:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.4ms, total=232.4ms [env.py: 1075] +05/12 16:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.263, 0.043) [env.py: 1079] +05/12 16:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.4 deg [env.py: 1082] +05/12 16:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m [env.py: 1086] +05/12 16:58:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:58:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:58:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:58:13 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 16:58:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/12 16:58:13 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 16:58:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:58:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:58:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.846s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:58:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.439[m] 93.186[deg] [grasp_sample.py: 539] +05/12 16:58:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:58:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:58:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:58:15 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 16:58:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:58:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:58:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.66s (batch: 4.36s, save: 11.30s) [pipeline.py: 300] +05/12 16:58:26 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.52s: + episode_total: mean=198.83s, total=198.83s, count=1, min=198834.8ms, max=198834.8ms + sensor_polling: mean=419.2ms, total=123.24s, count=294, min=378.6ms, max=914.4ms + save_trajectories: mean=11.30s, total=11.30s, count=1, min=11299.0ms, max=11299.0ms + physics_step: mean=25.4ms, total=7.46s, count=294, min=16.6ms, max=54.3ms + save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4360.8ms, max=4360.8ms + task_sampling: mean=517.0ms, total=517.0ms, count=1, min=517.0ms, max=517.0ms + task_specific_sample: mean=512.7ms, total=512.7ms, count=1, min=512.7ms, max=512.7ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=460.9us, 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 16:58:26 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 16:58:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 16:58:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:58:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:58:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:58:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:58:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:58:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:58:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:58:27 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 16:58:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:58:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041036m [env.py: 870] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:58:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87878526 0.63767487 0.04103641] yaw=-149.4deg [env.py: 1019] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83627067 0.3749027 0.04103641] yaw=147.2deg [env.py: 1019] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9374429 0.85948419 0.04103641] yaw=-169.9deg [env.py: 1019] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:58:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.5ms, total=173.5ms [env.py: 1075] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.879, 0.638, 0.041) [env.py: 1079] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.4 deg [env.py: 1082] +05/12 16:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m [env.py: 1086] +05/12 16:58:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:58:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:58:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:58:27 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 16:58:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 16:58:28 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 16:58:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:58:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:58:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.900s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:58:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.485[m] 96.444[deg] [grasp_sample.py: 539] +05/12 16:58:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:58:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:58:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:58:29 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 16:58:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:58:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:58:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:58:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:58:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:58:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:58:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:58:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:58:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 16:58:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.99s (batch: 4.32s, save: 11.67s) [pipeline.py: 300] +05/12 16:58:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:58:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:58:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:58:43 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 16:58:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:58:43 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.95s: + episode_total: mean=212.92s, total=212.92s, count=1, min=212923.4ms, max=212923.4ms + sensor_polling: mean=428.2ms, total=128.47s, count=300, min=399.3ms, max=974.5ms + save_trajectories: mean=11.67s, total=11.67s, count=1, min=11670.0ms, max=11670.0ms + physics_step: mean=24.6ms, total=7.39s, count=300, min=15.4ms, max=33.5ms + save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4317.1ms, max=4317.1ms + task_sampling: mean=951.9ms, total=951.9ms, count=1, min=951.9ms, max=951.9ms + task_specific_sample: mean=948.0ms, total=948.0ms, count=1, min=948.0ms, max=948.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=448.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.0us, 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 16:58:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 16:58:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:58:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:58:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:58:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:58:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:58:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:58:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:58:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:58:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:58:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:58:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066197m [env.py: 870] +05/12 16:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:58:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8239808 0.05047212 0.06619726] yaw=122.1deg [env.py: 1019] +05/12 16:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93482163 0.66704768 0.06619726] yaw=-140.2deg [env.py: 1019] +05/12 16:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86962059 0.8405861 0.06619726] yaw=-186.5deg [env.py: 1019] +05/12 16:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:58:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.3ms, total=119.3ms [env.py: 1075] +05/12 16:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.824, 0.050, 0.066) [env.py: 1079] +05/12 16:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 122.1 deg [env.py: 1082] +05/12 16:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/12 16:58:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:58:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:58:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:58:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:58:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:58:45 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 16:58:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/12 16:58:45 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 16:58:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:58:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:58:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.719s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:58:46 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.380[deg] [grasp_sample.py: 539] +05/12 16:58:47 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:58:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.134s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:58:47 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.673[m] 108.019[deg] [grasp_sample.py: 539] +05/12 16:58:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:58:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:58:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:58:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:58:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:58:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:58:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:58:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:58:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:58:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:58:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:58:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:58:49 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 16:58:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:58:49 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 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066932m [env.py: 870] +05/12 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:58:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6721283 0.84543233 0.06693232] yaw=-174.1deg [env.py: 1019] +05/12 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80325403 0.72610611 0.06693232] yaw=-155.1deg [env.py: 1019] +05/12 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98761571 1.25708831 0.06693232] yaw=-97.0deg [env.py: 1019] +05/12 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:58:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.3ms, total=152.4ms [env.py: 1075] +05/12 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.845, 0.067) [env.py: 1079] +05/12 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.1 deg [env.py: 1082] +05/12 16:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m [env.py: 1086] +05/12 16:58:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:58:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:58:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:58:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:58:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:58:49 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 16:58:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 16:58:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:58:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:58:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:58:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.651s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:58:52 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.684[m] 82.219[deg] [grasp_sample.py: 539] +05/12 16:58:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:58:53 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:58:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:58:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:58:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:58:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:58:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:58:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:58:55 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 16:58:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:58:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092055m [env.py: 870] +05/12 16:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:58:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83802079 0.49436786 0.09205489] yaw=-202.6deg [env.py: 1019] +05/12 16:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9068165 0.97034726 0.09205489] yaw=-126.6deg [env.py: 1019] +05/12 16:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94186484 0.8487363 0.09205489] yaw=-132.9deg [env.py: 1019] +05/12 16:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:58:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.2ms, total=113.2ms [env.py: 1075] +05/12 16:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.838, 0.494, 0.092) [env.py: 1079] +05/12 16:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -202.6 deg [env.py: 1082] +05/12 16:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/12 16:58:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:58:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:58:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:58:55 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 16:58:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 16:58:55 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 16:58:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:58:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:58:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.302s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:58:56 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.488[m] 87.947[deg] [grasp_sample.py: 539] +05/12 16:58:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:58:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:58:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:59:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:59:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:59:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:59:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:59:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:59:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:59:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:59:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:59:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:59:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:59:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 17:00:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 17:00:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 17:00:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 17:00:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 17:00:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 17:00:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 17:00:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 17:00:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 17:00:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 17:00:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 17:00:09 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 17:00:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 17:00:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 17:00:10 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.723s, found feasible grasp: True [grasp_sample.py: 500] +05/12 17:00:10 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.610[deg] [grasp_sample.py: 539] +05/12 17:00:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 17:00:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 17:00:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:00:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 17:00:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 17:00:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 17:00:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:00:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 17:00:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 17:00:37 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 17:00:42 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 17:01:03 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 17:01:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 17:01:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 17:01:05 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 17:01:12 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 17:01:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 17:01:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 17:01:16 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 17:01:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 17:01:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 17:01:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 16.12s (batch: 3.82s, save: 12.30s) [pipeline.py: 300] +05/12 17:01:20 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.47s: + episode_total: mean=172.79s, total=172.79s, count=1, min=172793.8ms, max=172793.8ms + sensor_polling: mean=394.9ms, total=118.48s, count=300, min=367.8ms, max=907.6ms + save_trajectories: mean=12.30s, total=12.30s, count=1, min=12304.7ms, max=12304.7ms + physics_step: mean=23.2ms, total=6.97s, count=300, min=16.7ms, max=43.6ms + save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3819.5ms, max=3819.5ms + task_sampling: mean=473.1ms, total=473.1ms, count=1, min=473.1ms, max=473.1ms + task_specific_sample: mean=468.6ms, total=468.6ms, count=1, min=468.6ms, max=468.6ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=445.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 17:01:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 17:01:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 17:01:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 17:01:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:01:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:01:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 17:01:21 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 17:01:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 17:01:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 17:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 17:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 17:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081223m [env.py: 870] +05/12 17:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 17:01:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 17:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 17:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97846904 1.20990862 0.08122291] yaw=-114.3deg [env.py: 1019] +05/12 17:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 17:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02851684 1.01826305 0.08122291] yaw=-173.4deg [env.py: 1019] +05/12 17:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 17:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 17:01:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=342.7ms, total=342.7ms [env.py: 1075] +05/12 17:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 1.210, 0.081) [env.py: 1079] +05/12 17:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -114.3 deg [env.py: 1082] +05/12 17:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m [env.py: 1086] +05/12 17:01:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:01:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:01:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:01:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:01:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 17:01:22 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 17:01:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 17:01:22 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 17:01:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 17:01:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 17:01:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.787s, found feasible grasp: True [grasp_sample.py: 500] +05/12 17:01:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.650[m] 96.371[deg] [grasp_sample.py: 539] +05/12 17:01:26 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 17:01:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 17:01:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 17:01:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 17:01:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:01:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:01:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:01:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:01:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 17:01:28 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 17:01:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 17:01:28 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 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057675m [env.py: 870] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 17:01:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91292569 0.85751578 0.05767507] yaw=-153.1deg [env.py: 1019] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74462674 0.42960182 0.05767507] yaw=152.4deg [env.py: 1019] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.18413959 1.10548472 0.05767507] yaw=-166.4deg [env.py: 1019] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 17:01:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.5ms, total=208.6ms [env.py: 1075] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.913, 0.858, 0.058) [env.py: 1079] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg [env.py: 1082] +05/12 17:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 17:01:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:01:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:01:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:01:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:01:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 17:01:28 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 17:01:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 17:01:28 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 17:01:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 17:01:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 17:01:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.878s, found feasible grasp: True [grasp_sample.py: 500] +05/12 17:01:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.430[m] 85.769[deg] [grasp_sample.py: 539] +05/12 17:01:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 17:01:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 17:01:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:01:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 17:01:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 17:01:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 18.67s (batch: 6.92s, save: 11.75s) [pipeline.py: 300] +05/12 17:01:32 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.57s: + episode_total: mean=198.85s, total=198.85s, count=1, min=198851.4ms, max=198851.4ms + sensor_polling: mean=406.1ms, total=121.82s, count=300, min=379.3ms, max=879.2ms + save_trajectories: mean=11.75s, total=11.75s, count=1, min=11748.7ms, max=11748.7ms + physics_step: mean=24.2ms, total=7.26s, count=300, min=14.8ms, max=32.6ms + save_batch_prep: mean=6.92s, total=6.92s, count=1, min=6920.1ms, max=6920.1ms + task_sampling: mean=574.6ms, total=574.6ms, count=1, min=574.6ms, max=574.6ms + task_specific_sample: mean=568.6ms, total=568.6ms, count=1, min=568.6ms, max=568.6ms + scene_randomize: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms + mj_forward_sync: mean=468.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.2us, 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 17:01:32 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 17:01:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 17:01:32 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 17:01:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 17:01:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 17:01:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 17:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:01:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 17:01:34 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 17:01:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 17:01:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052159m [env.py: 870] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 17:01:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09835007 1.15033014 0.05215862] yaw=-131.8deg [env.py: 1019] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80351226 0.7935682 0.05215862] yaw=-160.3deg [env.py: 1019] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8133307 0.81188556 0.05215862] yaw=-163.0deg [env.py: 1019] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 17:01:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.3ms, total=171.4ms [env.py: 1075] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.098, 1.150, 0.052) [env.py: 1079] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.8 deg [env.py: 1082] +05/12 17:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 17:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:01:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 17:01:35 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 17:01:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/12 17:01:35 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 17:01:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 17:01:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 17:01:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.052s, found feasible grasp: True [grasp_sample.py: 500] +05/12 17:01:39 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.525[m] 94.570[deg] [grasp_sample.py: 539] +05/12 17:01:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 17:01:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 17:01:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:01:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 17:01:43 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 17:01:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 17:01:43 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 17:01:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 17:01:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 17:01:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 14.97s (batch: 4.24s, save: 10.73s) [pipeline.py: 300] +05/12 17:01:48 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.43s: + episode_total: mean=183.52s, total=183.52s, count=1, min=183524.1ms, max=183524.1ms + sensor_polling: mean=425.4ms, total=127.62s, count=300, min=394.8ms, max=989.1ms + save_trajectories: mean=10.73s, total=10.73s, count=1, min=10727.7ms, max=10727.7ms + physics_step: mean=24.6ms, total=7.37s, count=300, min=21.7ms, max=37.6ms + save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4237.4ms, max=4237.4ms + task_sampling: mean=429.5ms, total=429.5ms, count=1, min=429.5ms, max=429.5ms + task_specific_sample: mean=425.6ms, total=425.6ms, count=1, min=425.6ms, max=425.6ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=462.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=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 17:01:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 17:01:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 17:01:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 17:01:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:01:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:01:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 17:01:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 17:01:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 17:01:49 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 17:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 17:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 17:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074536m [env.py: 870] +05/12 17:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 17:01:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 17:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 17:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85012202 1.09494126 0.07453623] yaw=-140.8deg [env.py: 1019] +05/12 17:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 17:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83285166 1.01995336 0.07453623] yaw=-161.3deg [env.py: 1019] +05/12 17:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 17:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96446128 1.15166781 0.07453623] yaw=-99.7deg [env.py: 1019] +05/12 17:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 17:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 17:01:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=395.5ms, total=395.6ms [env.py: 1075] +05/12 17:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.850, 1.095, 0.075) [env.py: 1079] +05/12 17:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg [env.py: 1082] +05/12 17:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/12 17:01:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:01:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:01:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:01:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:01:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 17:01:50 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 17:01:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 17:01:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 17:01:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 17:01:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 17:01:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.735s, found feasible grasp: True [grasp_sample.py: 500] +05/12 17:01:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.598[m] 83.159[deg] [grasp_sample.py: 539] +05/12 17:01:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 17:01:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 17:01:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:01:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 17:01:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 17:01:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.07s (batch: 3.91s, save: 11.16s) [pipeline.py: 300] +05/12 17:01:59 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.30s: + episode_total: mean=108.55s, total=325.66s, count=3, min=4467.0ms, max=184222.7ms + sensor_polling: mean=390.5ms, total=228.45s, count=585, min=367.2ms, max=850.2ms + physics_step: mean=23.9ms, total=13.99s, count=585, min=16.8ms, max=35.3ms + save_trajectories: mean=11.16s, total=11.16s, count=1, min=11164.7ms, max=11164.7ms + save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3909.3ms, max=3909.3ms + task_sampling: mean=434.5ms, total=1.30s, count=3, min=378.4ms, max=499.4ms + task_specific_sample: mean=431.0ms, total=1.29s, count=3, min=374.8ms, max=495.5ms + scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.1ms, max=2.6ms + mj_forward_sync: mean=444.3us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=15.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 17:02:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 17:02:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 17:02:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 17:02:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:02:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:02:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 17:02:00 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 17:02:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 17:02:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051656m [env.py: 870] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 17:02:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93642082 0.89809815 0.05165646] yaw=-140.0deg [env.py: 1019] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11636617 1.20325036 0.05165646] yaw=-153.9deg [env.py: 1019] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10186603 1.03102113 0.05165646] yaw=-98.5deg [env.py: 1019] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 17:02:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=166.0ms, total=166.1ms [env.py: 1075] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.936, 0.898, 0.052) [env.py: 1079] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg [env.py: 1082] +05/12 17:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/12 17:02:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:02:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:02:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 17:02:01 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 17:02:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 17:02:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 17:02:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 17:02:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 17:02:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.235s, found feasible grasp: True [grasp_sample.py: 500] +05/12 17:02:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.437[m] 82.297[deg] [grasp_sample.py: 539] +05/12 17:02:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 17:02:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 17:02:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:02:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:02:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 17:02:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 17:02:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:02:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 17:02:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 17:02:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:02:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 17:02:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:02:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 17:02:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 17:02:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 17:03:27 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 17:03:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 17:03:27 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 17:03:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 17:03:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 17:03:30 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.715s, found feasible grasp: True [grasp_sample.py: 500] +05/12 17:03:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.116[m] 2.455[deg] [grasp_sample.py: 539] +05/12 17:03:31 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 17:03:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 17:03:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 17:03:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 17:03:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:03:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:03:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 17:03:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 17:03:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 17:03:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048844m [env.py: 870] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 17:03:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.747859 0.07769507 0.04884366] yaw=133.8deg [env.py: 1019] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10574313 1.07682158 0.04884366] yaw=-118.3deg [env.py: 1019] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79361283 0.53456021 0.04884366] yaw=-173.4deg [env.py: 1019] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 17:03:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=296.4ms, total=296.5ms [env.py: 1075] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.078, 0.049) [env.py: 1079] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 133.8 deg [env.py: 1082] +05/12 17:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086] +05/12 17:03:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:03:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:03:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 17:03:34 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 17:03:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 17:03:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 17:03:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 17:03:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 17:03:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.744s, found feasible grasp: True [grasp_sample.py: 500] +05/12 17:03:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.625[m] 94.334[deg] [grasp_sample.py: 539] +05/12 17:03:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 17:03:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 17:03:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:03:37 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 17:03:43 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 17:04:08 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 17:04:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 17:04:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 17:04:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 17:04:12 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 17:04:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 17:04:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 17:04:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 17:04:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 17:04:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 17:04:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 17:04:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 17:04:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 17:04:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 17:04:23 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 17:04:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 17:04:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 72 non-colliding grasps [grasp_sample.py: 465] +05/12 17:04:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 17:04:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 17:04:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.50s (batch: 4.14s, save: 11.36s) [pipeline.py: 300] +05/12 17:04:25 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.15s: + episode_total: mean=90.88s, total=181.76s, count=2, min=4848.6ms, max=176915.3ms + sensor_polling: mean=411.2ms, total=123.35s, count=300, min=367.9ms, max=945.9ms + save_trajectories: mean=11.36s, total=11.36s, count=1, min=11356.0ms, max=11356.0ms + physics_step: mean=25.0ms, total=7.49s, count=300, min=17.4ms, max=36.0ms + save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4141.9ms, max=4141.9ms + task_sampling: mean=575.3ms, total=1.15s, count=2, min=499.4ms, max=651.1ms + task_specific_sample: mean=571.2ms, total=1.14s, count=2, min=495.9ms, max=646.5ms + scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.2ms, max=3.1ms + mj_forward_sync: mean=461.7us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=26.0us, 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 17:04:26 INFO: [Worker 0] Feasibility-checked 72 grasps in 2.661s, found feasible grasp: False [grasp_sample.py: 500] +05/12 17:04:26 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 17:04:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 17:04:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 17:04:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 17:04:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:04:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:04:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:04:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:04:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 17:04:26 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 17:04:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 17:04:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072497m [env.py: 870] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 17:04:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64131562 0.25520204 0.07249722] yaw=134.2deg [env.py: 1019] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97831844 1.17003625 0.07249722] yaw=-145.5deg [env.py: 1019] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.70342677 0.80691301 0.07249722] yaw=-157.1deg [env.py: 1019] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 17:04:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.9ms, total=227.0ms [env.py: 1075] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.255, 0.072) [env.py: 1079] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 134.2 deg [env.py: 1082] +05/12 17:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m [env.py: 1086] +05/12 17:04:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:04:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:04:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:04:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:04:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 17:04:27 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 17:04:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 17:04:27 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 17:04:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 17:04:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 17:04:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 17:04:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 17:04:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 17:04:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:04:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:04:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 17:04:28 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 17:04:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 17:04:28 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 17:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 17:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 17:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038346m [env.py: 870] +05/12 17:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 17:04:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 17:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 17:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68217454 0.33167292 0.03834575] yaw=160.2deg [env.py: 1019] +05/12 17:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 17:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79116093 0.9796385 0.03834575] yaw=-115.4deg [env.py: 1019] +05/12 17:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 17:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 17:04:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=213.9ms, total=214.0ms [env.py: 1075] +05/12 17:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.682, 0.332, 0.038) [env.py: 1079] +05/12 17:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.2 deg [env.py: 1082] +05/12 17:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/12 17:04:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:04:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:04:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 17:04:28 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 17:04:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 17:04:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 17:04:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 17:04:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 17:04:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.928s, found feasible grasp: True [grasp_sample.py: 500] +05/12 17:04:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.577[m] 82.842[deg] [grasp_sample.py: 539] +05/12 17:04:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 17:04:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 17:04:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:04:30 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 17:04:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.912s, found feasible grasp: True [grasp_sample.py: 500] +05/12 17:04:31 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.763[m] 102.661[deg] [grasp_sample.py: 539] +05/12 17:04:32 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 17:04:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:04:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 17:04:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 17:04:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 17:04:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:04:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:04:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:04:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:04:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 17:04:34 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 17:04:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 17:04:34 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 17:04:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 17:04:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 17:04:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072985m [env.py: 870] +05/12 17:04:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 17:04:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 17:04:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 17:04:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05354762 0.87327474 0.07298475] yaw=-117.5deg [env.py: 1019] +05/12 17:04:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 17:04:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:04:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:04:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:04:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:04:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.74384187 0.61722381 0.07298475] yaw=-143.2deg [env.py: 1019] +05/12 17:04:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 17:04:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 17:04:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.6ms, total=223.7ms [env.py: 1075] +05/12 17:04:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.054, 0.873, 0.073) [env.py: 1079] +05/12 17:04:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -117.5 deg [env.py: 1082] +05/12 17:04:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m [env.py: 1086] +05/12 17:04:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:04:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:04:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:04:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:04:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 17:04:34 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 17:04:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/12 17:04:34 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 17:04:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 17:04:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 17:04:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.900s, found feasible grasp: True [grasp_sample.py: 500] +05/12 17:04:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.417[m] 93.180[deg] [grasp_sample.py: 539] +05/12 17:04:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 17:04:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 17:04:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:04:36 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 17:04:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 17:04:44 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 17:04:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 17:04:44 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 17:04:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 17:05:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 17:05:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 17:05:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 19.21s (batch: 7.72s, save: 11.49s) [pipeline.py: 300] +05/12 17:05:04 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.48s: + episode_total: mean=183.72s, total=183.72s, count=1, min=183720.3ms, max=183720.3ms + sensor_polling: mean=399.8ms, total=119.93s, count=300, min=369.5ms, max=842.3ms + save_trajectories: mean=11.49s, total=11.49s, count=1, min=11488.0ms, max=11488.0ms + save_batch_prep: mean=7.72s, total=7.72s, count=1, min=7721.0ms, max=7721.0ms + physics_step: mean=23.7ms, total=7.12s, count=300, min=16.7ms, max=64.1ms + task_sampling: mean=480.4ms, total=480.4ms, count=1, min=480.4ms, max=480.4ms + task_specific_sample: mean=476.3ms, total=476.3ms, count=1, min=476.3ms, max=476.3ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=484.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 17:05:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 17:05:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 17:05:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 17:05:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:05:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:05:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 17:05:06 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 17:05:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 17:05:06 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 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027734m [env.py: 870] +05/12 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 17:05:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90933077 0.10189092 0.02773411] yaw=151.3deg [env.py: 1019] +05/12 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00140748 1.3039598 0.02773411] yaw=-104.3deg [env.py: 1019] +05/12 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.66523719 0.24986356 0.02773411] yaw=189.5deg [env.py: 1019] +05/12 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 17:05:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=239.7ms, total=239.7ms [env.py: 1075] +05/12 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.102, 0.028) [env.py: 1079] +05/12 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.3 deg [env.py: 1082] +05/12 17:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 17:05:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:05:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:05:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 17:05:06 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 17:05:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.200s [base_object_manipulation_planner_policy.py: 377] +05/12 17:05:07 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 17:05:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 17:05:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 17:05:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.311s, found feasible grasp: True [grasp_sample.py: 500] +05/12 17:05:08 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.447[m] 93.247[deg] [grasp_sample.py: 539] +05/12 17:05:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 17:05:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 17:05:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:05:10 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 17:05:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:05:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 17:05:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:05:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 17:05:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 17:05:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 17:05:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 17:05:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 17:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 17:05:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 17:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 17:05:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 17:05:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 17:05:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 17:05:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 17:05:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 17:05:49 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 17:05:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 17:05:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 17:05:50 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.751s, found feasible grasp: True [grasp_sample.py: 500] +05/12 17:05:50 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.278[deg] [grasp_sample.py: 539] +05/12 17:05:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 17:05:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 17:05:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:05:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:05:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:05:59 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 17:06:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 17:06:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 17:06:33 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 17:06:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 17:06:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 17:06:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 17:06:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 17:06:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 16.21s (batch: 5.27s, save: 10.93s) [pipeline.py: 300] +05/12 17:06:50 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.07s: + episode_total: mean=157.34s, total=314.67s, count=2, min=117453.0ms, max=197220.4ms + sensor_polling: mean=403.0ms, total=222.47s, count=552, min=369.9ms, max=878.2ms + physics_step: mean=23.8ms, total=13.12s, count=552, min=15.2ms, max=32.9ms + save_trajectories: mean=10.93s, total=10.93s, count=1, min=10934.6ms, max=10934.6ms + save_batch_prep: mean=5.27s, total=5.27s, count=1, min=5271.1ms, max=5271.1ms + task_sampling: mean=535.0ms, total=1.07s, count=2, min=491.6ms, max=578.4ms + task_specific_sample: mean=531.0ms, total=1.06s, count=2, min=486.9ms, max=575.1ms + scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.4ms, max=3.1ms + mj_forward_sync: mean=453.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 17:06:52 WARNING: [Worker 0] No trajectory data to save for chunk_018 [pipeline.py: 234] +05/12 17:06:52 WARNING: [Worker 0] No trajectory data to save for chunk_018 [pipeline.py: 234] +05/12 17:06:52 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes [pipeline.py: 1323] +05/12 17:06:52 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=4723.26s + House averages: + episode_total: mean=151.22s, total=2721.94s, count=18, min=3249.9ms, max=243893.0ms + sensor_polling: mean=401.6ms, total=1693.65s, count=4217, min=359.9ms, max=1044.1ms + save_trajectories: mean=10.94s, total=120.38s, count=11, min=10496.6ms, max=11748.7ms + physics_step: mean=24.3ms, total=102.59s, count=4217, min=14.8ms, max=72.8ms + save_batch_prep: mean=4.96s, total=54.56s, count=11, min=4127.2ms, max=6920.1ms + task_sampling: mean=705.6ms, total=12.70s, count=18, min=387.6ms, max=3917.7ms + task_specific_sample: mean=509.9ms, total=9.18s, count=18, min=383.9ms, max=647.7ms + scene_load: mean=3.44s, total=3.44s, count=1, min=3438.7ms, max=3438.7ms + scene_env_create: mean=2.03s, total=2.03s, count=1, min=2025.8ms, max=2025.8ms + scene_compile: mean=1.22s, total=1.22s, count=1, min=1219.4ms, max=1219.4ms + compile_mujoco: mean=772.4ms, total=772.4ms, count=1, min=772.4ms, max=772.4ms + compile_xml_load: mean=353.6ms, total=353.6ms, count=1, min=353.6ms, max=353.6ms + scene_init: mean=139.6ms, total=139.6ms, count=1, min=139.6ms, max=139.6ms + 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=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms + scene_randomize: mean=2.7ms, total=49.3ms, count=18, min=1.1ms, max=6.7ms + asset_install_grasps: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms + compile_robot_add: mean=28.2ms, total=28.2ms, count=1, min=28.2ms, max=28.2ms + asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms + mj_forward_sync: mean=487.0us, total=8.8ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + policy_setup: mean=30.8us, total=0.6ms, count=18, min=0.0ms, max=0.2ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 17:06:52 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 17:06:52 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=4723.26s + Worker averages: + episode_total: mean=151.22s, total=2721.94s, count=18, min=3249.9ms, max=243893.0ms + sensor_polling: mean=401.6ms, total=1693.65s, count=4217, min=359.9ms, max=1044.1ms + save_trajectories: mean=10.94s, total=120.38s, count=11, min=10496.6ms, max=11748.7ms + physics_step: mean=24.3ms, total=102.59s, count=4217, min=14.8ms, max=72.8ms + save_batch_prep: mean=4.96s, total=54.56s, count=11, min=4127.2ms, max=6920.1ms + task_sampling: mean=705.6ms, total=12.70s, count=18, min=387.6ms, max=3917.7ms + task_specific_sample: mean=509.9ms, total=9.18s, count=18, min=383.9ms, max=647.7ms + scene_load: mean=3.44s, total=3.44s, count=1, min=3438.7ms, max=3438.7ms + scene_env_create: mean=2.03s, total=2.03s, count=1, min=2025.8ms, max=2025.8ms + scene_compile: mean=1.22s, total=1.22s, count=1, min=1219.4ms, max=1219.4ms + compile_mujoco: mean=772.4ms, total=772.4ms, count=1, min=772.4ms, max=772.4ms + compile_xml_load: mean=353.6ms, total=353.6ms, count=1, min=353.6ms, max=353.6ms + scene_init: mean=139.6ms, total=139.6ms, count=1, min=139.6ms, max=139.6ms + 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=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms + scene_randomize: mean=2.7ms, total=49.3ms, count=18, min=1.1ms, max=6.7ms + asset_install_grasps: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms + compile_robot_add: mean=28.2ms, total=28.2ms, count=1, min=28.2ms, max=28.2ms + asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms + mj_forward_sync: mean=487.0us, total=8.8ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + policy_setup: mean=30.8us, total=0.6ms, count=18, min=0.0ms, max=0.2ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 17:06:52 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 17:06:52 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 17:06:55 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 17:06:55 INFO: Success count: 11, Total count: 12 [pipeline.py: 1491] +05/12 17:06:55 INFO: Success rate: 91.67% [pipeline.py: 1492] +05/12 17:06:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 17:07:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 17:07:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 17:07:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 17:07:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 17:07:18 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 17:07:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 17:07:18 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 17:07:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 17:07:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 17:07:22 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 17:07:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 17:07:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 17:07:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 17:07:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 17:07:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 17:07:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 17:07:25 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 17:07:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 17:07:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 17:07:26 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.665s, found feasible grasp: True [grasp_sample.py: 500] +05/12 17:07:26 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.659[deg] [grasp_sample.py: 539] +05/12 17:07:27 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 17:07:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 17:07:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 17:07:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 17:07:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:07:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:07:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:07:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:07:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 17:07:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 17:07:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 17:07:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 17:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 17:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 17:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091226m [env.py: 870] +05/12 17:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 17:07:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 17:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 17:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86155452 0.54868606 0.09122565] yaw=-164.4deg [env.py: 1019] +05/12 17:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 17:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66910177 0.73730565 0.09122565] yaw=-153.3deg [env.py: 1019] +05/12 17:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 17:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 17:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81627188 0.55397967 0.09122565] yaw=-188.4deg [env.py: 1019] +05/12 17:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 17:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 17:07:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=482.0ms, total=482.0ms [env.py: 1075] +05/12 17:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.862, 0.549, 0.091) [env.py: 1079] +05/12 17:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.4 deg [env.py: 1082] +05/12 17:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/12 17:07:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 17:07:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 17:07:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 17:07:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 17:07:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 17:07:30 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 17:07:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 17:07:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 17:07:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 17:07:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 17:07:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.755s, found feasible grasp: True [grasp_sample.py: 500] +05/12 17:07:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.400[m] 80.932[deg] [grasp_sample.py: 539] +05/12 17:07:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 17:07:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 17:07:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:07:32 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 17:07:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 17:07:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 17:07:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 17.39s (batch: 4.49s, save: 12.90s) [pipeline.py: 300] +05/12 17:07:36 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.04s: + episode_total: mean=94.44s, total=188.88s, count=2, min=6064.4ms, max=182820.4ms + sensor_polling: mean=421.5ms, total=126.45s, count=300, min=370.2ms, max=947.5ms + save_trajectories: mean=12.90s, total=12.90s, count=1, min=12900.9ms, max=12900.9ms + physics_step: mean=25.3ms, total=7.58s, count=300, min=16.8ms, max=44.3ms + save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4488.7ms, max=4488.7ms + task_sampling: mean=521.1ms, total=1.04s, count=2, min=506.9ms, max=535.3ms + task_specific_sample: mean=516.6ms, total=1.03s, count=2, min=502.2ms, max=531.0ms + scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.2ms, max=2.8ms + mj_forward_sync: mean=457.3us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=14.1us, 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 17:07:38 WARNING: [Worker 0] No trajectory data to save for chunk_018 [pipeline.py: 234] +05/12 17:07:38 WARNING: [Worker 0] No trajectory data to save for chunk_018 [pipeline.py: 234] +05/12 17:07:38 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes [pipeline.py: 1323] +05/12 17:07:38 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5013.71s + House averages: + episode_total: mean=153.77s, total=2767.84s, count=18, min=4848.6ms, max=207188.8ms + sensor_polling: mean=403.3ms, total=1885.45s, count=4675, min=365.1ms, max=1007.4ms + save_trajectories: mean=11.46s, total=160.44s, count=14, min=10715.0ms, max=12900.9ms + physics_step: mean=24.3ms, total=113.60s, count=4675, min=16.6ms, max=59.1ms + save_batch_prep: mean=4.13s, total=57.79s, count=14, min=3523.9ms, max=4810.9ms + task_sampling: mean=683.2ms, total=12.30s, count=18, min=406.0ms, max=3396.6ms + task_specific_sample: mean=514.9ms, total=9.27s, count=18, min=401.6ms, max=919.9ms + scene_load: mean=2.95s, total=2.95s, count=1, min=2951.2ms, max=2951.2ms + scene_env_create: mean=1.81s, total=1.81s, count=1, min=1806.9ms, max=1806.9ms + scene_compile: mean=920.2ms, total=920.2ms, count=1, min=920.2ms, max=920.2ms + compile_mujoco: mean=628.9ms, total=628.9ms, count=1, min=628.9ms, max=628.9ms + compile_xml_load: mean=217.3ms, total=217.3ms, count=1, min=217.3ms, max=217.3ms + scene_init: mean=116.8ms, total=116.8ms, count=1, min=116.8ms, max=116.8ms + scene_asset_install: mean=106.8ms, total=106.8ms, count=1, min=106.8ms, max=106.8ms + asset_install_grasps: mean=89.3ms, total=89.3ms, count=1, min=89.3ms, max=89.3ms + compile_aux_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + compile_aux_policy_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + scene_randomize: mean=2.6ms, total=47.1ms, count=18, min=1.2ms, max=3.5ms + asset_install_objects: mean=14.1ms, total=14.1ms, count=1, min=14.1ms, max=14.1ms + mj_forward_sync: mean=514.6us, total=9.3ms, count=18, min=0.4ms, max=0.7ms + compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=21.1us, 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 17:07:38 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 17:07:38 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5013.71s + Worker averages: + episode_total: mean=153.77s, total=2767.84s, count=18, min=4848.6ms, max=207188.8ms + sensor_polling: mean=403.3ms, total=1885.45s, count=4675, min=365.1ms, max=1007.4ms + save_trajectories: mean=11.46s, total=160.44s, count=14, min=10715.0ms, max=12900.9ms + physics_step: mean=24.3ms, total=113.60s, count=4675, min=16.6ms, max=59.1ms + save_batch_prep: mean=4.13s, total=57.79s, count=14, min=3523.9ms, max=4810.9ms + task_sampling: mean=683.2ms, total=12.30s, count=18, min=406.0ms, max=3396.6ms + task_specific_sample: mean=514.9ms, total=9.27s, count=18, min=401.6ms, max=919.9ms + scene_load: mean=2.95s, total=2.95s, count=1, min=2951.2ms, max=2951.2ms + scene_env_create: mean=1.81s, total=1.81s, count=1, min=1806.9ms, max=1806.9ms + scene_compile: mean=920.2ms, total=920.2ms, count=1, min=920.2ms, max=920.2ms + compile_mujoco: mean=628.9ms, total=628.9ms, count=1, min=628.9ms, max=628.9ms + compile_xml_load: mean=217.3ms, total=217.3ms, count=1, min=217.3ms, max=217.3ms + scene_init: mean=116.8ms, total=116.8ms, count=1, min=116.8ms, max=116.8ms + scene_asset_install: mean=106.8ms, total=106.8ms, count=1, min=106.8ms, max=106.8ms + asset_install_grasps: mean=89.3ms, total=89.3ms, count=1, min=89.3ms, max=89.3ms + compile_aux_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + compile_aux_policy_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + scene_randomize: mean=2.6ms, total=47.1ms, count=18, min=1.2ms, max=3.5ms + asset_install_objects: mean=14.1ms, total=14.1ms, count=1, min=14.1ms, max=14.1ms + mj_forward_sync: mean=514.6us, total=9.3ms, count=18, min=0.4ms, max=0.7ms + compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=21.1us, 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 17:07:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 17:07:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 17:07:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 16.36s (batch: 4.52s, save: 11.84s) [pipeline.py: 300] +05/12 17:07:39 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.22s: + episode_total: mean=174.12s, total=348.24s, count=2, min=156452.7ms, max=191791.4ms + sensor_polling: mean=437.9ms, total=261.41s, count=597, min=391.4ms, max=999.9ms + physics_step: mean=25.7ms, total=15.34s, count=597, min=17.1ms, max=44.3ms + save_trajectories: mean=11.84s, total=11.84s, count=1, min=11840.3ms, max=11840.3ms + save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4516.6ms, max=4516.6ms + task_sampling: mean=610.5ms, total=1.22s, count=2, min=498.7ms, max=722.2ms + task_specific_sample: mean=606.7ms, total=1.21s, count=2, min=495.3ms, max=718.2ms + scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.3ms, max=2.6ms + mj_forward_sync: mean=518.2us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=16.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 17:07:41 WARNING: [Worker 0] No trajectory data to save for chunk_018 [pipeline.py: 234] +05/12 17:07:41 WARNING: [Worker 0] No trajectory data to save for chunk_018 [pipeline.py: 234] +05/12 17:07:41 INFO: [Worker 0] Worker 0 completed house 1: 10/11 successful episodes [pipeline.py: 1323] +05/12 17:07:41 INFO: [Worker 0] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=5009.71s + House averages: + episode_total: mean=154.23s, total=2776.07s, count=18, min=4369.1ms, max=218088.5ms + sensor_polling: mean=427.2ms, total=1934.58s, count=4528, min=387.1ms, max=999.9ms + save_trajectories: mean=11.22s, total=112.16s, count=10, min=10727.7ms, max=11840.3ms + physics_step: mean=24.5ms, total=110.89s, count=4528, min=15.2ms, max=94.8ms + save_batch_prep: mean=4.32s, total=43.23s, count=10, min=3942.9ms, max=4913.2ms + task_sampling: mean=777.3ms, total=13.99s, count=18, min=320.5ms, max=3934.9ms + task_specific_sample: mean=582.9ms, total=10.49s, count=18, min=317.3ms, max=969.8ms + scene_load: mean=3.43s, total=3.43s, count=1, min=3428.4ms, max=3428.4ms + scene_env_create: mean=1.96s, total=1.96s, count=1, min=1963.7ms, max=1963.7ms + scene_compile: mean=1.29s, total=1.29s, count=1, min=1292.1ms, max=1292.1ms + compile_mujoco: mean=750.3ms, total=750.3ms, count=1, min=750.3ms, max=750.3ms + compile_xml_load: mean=451.2ms, total=451.2ms, count=1, min=451.2ms, max=451.2ms + scene_init: mean=115.2ms, total=115.2ms, count=1, min=115.2ms, max=115.2ms + scene_asset_install: mean=56.9ms, total=56.9ms, count=1, min=56.9ms, max=56.9ms + compile_aux_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + compile_aux_policy_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + asset_install_grasps: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms + scene_randomize: mean=2.1ms, total=37.0ms, count=18, min=1.2ms, max=4.4ms + compile_robot_add: mean=24.7ms, total=24.7ms, count=1, min=24.7ms, max=24.7ms + asset_install_objects: mean=12.7ms, total=12.7ms, count=1, min=12.7ms, max=12.7ms + mj_forward_sync: mean=474.3us, total=8.5ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=19.6us, 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 17:07:41 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 17:07:41 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5009.71s + Worker averages: + episode_total: mean=154.23s, total=2776.07s, count=18, min=4369.1ms, max=218088.5ms + sensor_polling: mean=427.2ms, total=1934.58s, count=4528, min=387.1ms, max=999.9ms + save_trajectories: mean=11.22s, total=112.16s, count=10, min=10727.7ms, max=11840.3ms + physics_step: mean=24.5ms, total=110.89s, count=4528, min=15.2ms, max=94.8ms + save_batch_prep: mean=4.32s, total=43.23s, count=10, min=3942.9ms, max=4913.2ms + task_sampling: mean=777.3ms, total=13.99s, count=18, min=320.5ms, max=3934.9ms + task_specific_sample: mean=582.9ms, total=10.49s, count=18, min=317.3ms, max=969.8ms + scene_load: mean=3.43s, total=3.43s, count=1, min=3428.4ms, max=3428.4ms + scene_env_create: mean=1.96s, total=1.96s, count=1, min=1963.7ms, max=1963.7ms + scene_compile: mean=1.29s, total=1.29s, count=1, min=1292.1ms, max=1292.1ms + compile_mujoco: mean=750.3ms, total=750.3ms, count=1, min=750.3ms, max=750.3ms + compile_xml_load: mean=451.2ms, total=451.2ms, count=1, min=451.2ms, max=451.2ms + scene_init: mean=115.2ms, total=115.2ms, count=1, min=115.2ms, max=115.2ms + scene_asset_install: mean=56.9ms, total=56.9ms, count=1, min=56.9ms, max=56.9ms + compile_aux_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + compile_aux_policy_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + asset_install_grasps: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms + scene_randomize: mean=2.1ms, total=37.0ms, count=18, min=1.2ms, max=4.4ms + compile_robot_add: mean=24.7ms, total=24.7ms, count=1, min=24.7ms, max=24.7ms + asset_install_objects: mean=12.7ms, total=12.7ms, count=1, min=12.7ms, max=12.7ms + mj_forward_sync: mean=474.3us, total=8.5ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=19.6us, 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: 429] +05/12 17:07:41 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 17:07:41 INFO: Success count: 14, Total count: 14 [pipeline.py: 1491] +05/12 17:07:41 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/12 17:07:44 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 17:07:44 INFO: Success count: 10, Total count: 11 [pipeline.py: 1491] +05/12 17:07:44 INFO: Success rate: 90.91% [pipeline.py: 1492] +05/12 17:08:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:08:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 17:08:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 17:09:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 17:09:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 17:09:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 17:09:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 17:09:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 17:09:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 17:09:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 17:09:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 17:09:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 17:09:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 17:09:17 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 17:09:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 17:09:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 17:09:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.770s, found feasible grasp: True [grasp_sample.py: 500] +05/12 17:09:17 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.436[deg] [grasp_sample.py: 539] +05/12 17:09:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 17:09:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 17:09:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:09:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 17:09:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 17:09:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 17:09:56 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 17:10:24 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 17:10:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 17:10:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 17:10:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 17:10:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 17:10:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 15.92s (batch: 5.01s, save: 10.92s) [pipeline.py: 300] +05/12 17:10:41 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.41s: + episode_total: mean=166.58s, total=333.15s, count=2, min=141695.4ms, max=191456.8ms + sensor_polling: mean=430.1ms, total=232.26s, count=540, min=356.2ms, max=1085.4ms + physics_step: mean=24.6ms, total=13.28s, count=540, min=15.9ms, max=45.2ms + save_trajectories: mean=10.92s, total=10.92s, count=1, min=10915.9ms, max=10915.9ms + save_batch_prep: mean=5.01s, total=5.01s, count=1, min=5008.8ms, max=5008.8ms + task_sampling: mean=703.5ms, total=1.41s, count=2, min=647.8ms, max=759.2ms + task_specific_sample: mean=698.0ms, total=1.40s, count=2, min=640.7ms, max=755.3ms + scene_randomize: mean=3.4ms, total=6.9ms, count=2, min=1.4ms, max=5.5ms + mj_forward_sync: mean=452.3us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=18.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 17:10:43 WARNING: [Worker 0] No trajectory data to save for chunk_018 [pipeline.py: 234] +05/12 17:10:43 WARNING: [Worker 0] No trajectory data to save for chunk_018 [pipeline.py: 234] +05/12 17:10:43 INFO: [Worker 0] Worker 0 completed house 1: 12/14 successful episodes [pipeline.py: 1323] +05/12 17:10:43 INFO: [Worker 0] [PROFILE] House 1 complete: 12/14 successful, 14 episodes, total_time=5277.94s + House averages: + episode_total: mean=164.15s, total=2954.69s, count=18, min=4467.0ms, max=216262.0ms + sensor_polling: mean=397.4ms, total=1988.42s, count=5004, min=356.2ms, max=1085.4ms + save_trajectories: mean=10.98s, total=131.78s, count=12, min=10470.1ms, max=11846.1ms + physics_step: mean=24.1ms, total=120.35s, count=5004, min=15.2ms, max=64.1ms + save_batch_prep: mean=4.62s, total=55.41s, count=12, min=3717.0ms, max=7721.0ms + task_sampling: mean=654.9ms, total=11.79s, count=18, min=378.4ms, max=3296.5ms + task_specific_sample: mean=497.1ms, total=8.95s, count=18, min=374.8ms, max=755.3ms + scene_load: mean=2.76s, total=2.76s, count=1, min=2761.8ms, max=2761.8ms + scene_env_create: mean=1.72s, total=1.72s, count=1, min=1718.6ms, max=1718.6ms + scene_compile: mean=874.6ms, total=874.6ms, count=1, min=874.6ms, max=874.6ms + compile_mujoco: mean=616.3ms, total=616.3ms, count=1, min=616.3ms, max=616.3ms + compile_xml_load: mean=185.6ms, total=185.6ms, count=1, min=185.6ms, max=185.6ms + scene_init: mean=117.3ms, total=117.3ms, count=1, min=117.3ms, max=117.3ms + compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + scene_asset_install: mean=51.1ms, total=51.1ms, count=1, min=51.1ms, max=51.1ms + scene_randomize: mean=2.8ms, total=50.0ms, count=18, min=1.1ms, max=10.4ms + asset_install_grasps: mean=37.0ms, total=37.0ms, count=1, min=37.0ms, max=37.0ms + asset_install_objects: mean=10.7ms, total=10.7ms, count=1, min=10.7ms, max=10.7ms + mj_forward_sync: mean=455.3us, total=8.2ms, count=18, min=0.4ms, max=0.5ms + compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=22.7us, 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 17:10:43 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 17:10:43 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5277.94s + Worker averages: + episode_total: mean=164.15s, total=2954.69s, count=18, min=4467.0ms, max=216262.0ms + sensor_polling: mean=397.4ms, total=1988.42s, count=5004, min=356.2ms, max=1085.4ms + save_trajectories: mean=10.98s, total=131.78s, count=12, min=10470.1ms, max=11846.1ms + physics_step: mean=24.1ms, total=120.35s, count=5004, min=15.2ms, max=64.1ms + save_batch_prep: mean=4.62s, total=55.41s, count=12, min=3717.0ms, max=7721.0ms + task_sampling: mean=654.9ms, total=11.79s, count=18, min=378.4ms, max=3296.5ms + task_specific_sample: mean=497.1ms, total=8.95s, count=18, min=374.8ms, max=755.3ms + scene_load: mean=2.76s, total=2.76s, count=1, min=2761.8ms, max=2761.8ms + scene_env_create: mean=1.72s, total=1.72s, count=1, min=1718.6ms, max=1718.6ms + scene_compile: mean=874.6ms, total=874.6ms, count=1, min=874.6ms, max=874.6ms + compile_mujoco: mean=616.3ms, total=616.3ms, count=1, min=616.3ms, max=616.3ms + compile_xml_load: mean=185.6ms, total=185.6ms, count=1, min=185.6ms, max=185.6ms + scene_init: mean=117.3ms, total=117.3ms, count=1, min=117.3ms, max=117.3ms + compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + scene_asset_install: mean=51.1ms, total=51.1ms, count=1, min=51.1ms, max=51.1ms + scene_randomize: mean=2.8ms, total=50.0ms, count=18, min=1.1ms, max=10.4ms + asset_install_grasps: mean=37.0ms, total=37.0ms, count=1, min=37.0ms, max=37.0ms + asset_install_objects: mean=10.7ms, total=10.7ms, count=1, min=10.7ms, max=10.7ms + mj_forward_sync: mean=455.3us, total=8.2ms, count=18, min=0.4ms, max=0.5ms + compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=22.7us, 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 17:10:47 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 17:10:47 INFO: Success count: 12, Total count: 14 [pipeline.py: 1491] +05/12 17:10:47 INFO: Success rate: 85.71% [pipeline.py: 1492] diff --git a/fridge_m_0.7_pd/chunk_018/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_018/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 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